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muele-marlin/Marlin/Marlin_main.cpp

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Further cleanup of comments, partial Doxygen-style Following up on #3231
2016-03-25 06:19:46 +00:00
/**
Added gplv3 header to all Marlin files
2016-03-24 18:01:20 +00:00
* Marlin 3D Printer Firmware
UBL implementation
2017-03-18 15:15:54 +00:00
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
Update headings in Marlin_main.cpp and stepper.cpp
2015-05-17 08:44:53 +00:00
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
Added gplv3 header to all Marlin files
2016-03-24 18:01:20 +00:00
*
*/
Further cleanup of comments, partial Doxygen-style Following up on #3231
2016-03-25 06:19:46 +00:00
/**
Update headings in Marlin_main.cpp and stepper.cpp
2015-05-17 08:44:53 +00:00
* About Marlin
*
* This firmware is a mashup between Sprinter and grbl.
* - https://github.com/kliment/Sprinter
* - https://github.com/simen/grbl/tree
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
*/
More rambo fixes
2012-11-21 19:53:56 +00:00
Naming and code comments
2015-04-14 00:17:36 +00:00
/**
Move GCode list above include lines
2016-11-19 03:54:38 +00:00
* -----------------
* G-Codes in Marlin
* -----------------
*
* Helpful G-code references:
Naming and code comments
2015-04-14 00:17:36 +00:00
* - http://linuxcnc.org/handbook/gcode/g-code.html
* - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
*
Move GCode list above include lines
2016-11-19 03:54:38 +00:00
* Help to document Marlin's G-codes online:
Naming and code comments
2015-04-14 00:17:36 +00:00
* - http://reprap.org/wiki/G-code
Move GCode list above include lines
2016-11-19 03:54:38 +00:00
* - https://github.com/MarlinFirmware/MarlinDocumentation
Update headings in Marlin_main.cpp and stepper.cpp
2015-05-17 08:44:53 +00:00
*
* -----------------
Naming and code comments
2015-04-14 00:17:36 +00:00
*
* "G" Codes
*
* G0 -> G1
* G1 - Coordinated Movement X Y Z E
* G2 - CW ARC
* G3 - CCW ARC
* G4 - Dwell S<seconds> or P<milliseconds>
Remove SF_ARC_FIX from G5 (Cubic B-spline) Remove SF_ARC_FIX from G5 (Cubic B-spline). SF_ARC_FIX is a fix for G2/G3 (arcs) where Skeinforge always produced relative instead of absolute coordinates for the endpoint of an arc. It's very unlikely this is also a problem with Cubic B-splines. More likely is copying from the G2/G3 code.
2016-05-19 19:00:12 +00:00
* G5 - Cubic B-spline with XYZE destination and IJPQ offsets
Add checking
2017-05-17 23:46:16 +00:00
* G7 - Coordinated move between UBL mesh points (I & J)
Implements a nozzle cleaning pattern generator (G12)
2016-06-16 04:18:44 +00:00
* G10 - Retract filament according to settings of M207
* G11 - Retract recover filament according to settings of M208
* G12 - Clean tool
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
* G20 - Set input units to inches
* G21 - Set input units to millimeters
Update Configuration.h files to better names (#6814) Changed UBL_G26_MESH_EDITING to UBL_G26_MESH_VALIDATION Added UBL_MESH_EDIT_MOVES_Z to prepare for that change (coming next)
2017-05-21 16:10:22 +00:00
* G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_VALIDATION)
Add some GCodes to the header of Marlin_main.cpp
2017-05-12 03:25:06 +00:00
* G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE)
Naming and code comments
2015-04-14 00:17:36 +00:00
* G28 - Home one or more axes
Update ABL comments (PR#95) * Updates the auto bed leveling comments ONLY. * Renames "Z probe" word usage in //comments and #errors properly.
2015-08-20 14:07:55 +00:00
* G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
improve G30 probing Add optional parameters X, Y for probe point S sets stowing on and off
2016-11-05 10:08:41 +00:00
* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
Naming and code comments
2015-04-14 00:17:36 +00:00
* G31 - Dock sled (Z_PROBE_SLED only)
* G32 - Undock sled (Z_PROBE_SLED only)
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
* G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
G38 optional double touch Made the double touch portion a conditional compile based on the PROBE_DOUBLE_TOUCH flag. ============================================== Bugfix The current G38 only stopped a move if it involved the Z axis. Moved all the G38 code to it's own section and put it where it would always be executed no matter what axis was moving or if the endstop was enabled. Also added a comment to configuration_adv to alert the user the double tap had to be turned on. ============================================== Change G38 back to using Z_MIN_PROBE There's no Z_MIN endstop if Z_DUAL_ENDSTOPS is enabled and you have them set to the top of the gantry. G38 started out as using the Z_MIN_PROBE pin. I don't remember why we changed it to the Z_MIN endstop.
2017-01-12 01:06:03 +00:00
* G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
Naming and code comments
2015-04-14 00:17:36 +00:00
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
* G92 - Set current position to coordinates given
*
* "M" Codes
*
* M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
* M1 - Same as M0
SPINDLE/LASER implementation
2017-04-07 18:52:45 +00:00
* M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise
* M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise
* M5 - Turn laser/spindle off
Naming and code comments
2015-04-14 00:17:36 +00:00
* M17 - Enable/Power all stepper motors
* M18 - Disable all stepper motors; same as M84
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M20 - List SD card. (Requires SDSUPPORT)
* M21 - Init SD card. (Requires SDSUPPORT)
* M22 - Release SD card. (Requires SDSUPPORT)
* M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
* M24 - Start/resume SD print. (Requires SDSUPPORT)
* M25 - Pause SD print. (Requires SDSUPPORT)
* M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
* M27 - Report SD print status. (Requires SDSUPPORT)
* M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
* M29 - Stop SD write. (Requires SDSUPPORT)
* M30 - Delete file from SD: "M30 /path/file.gco"
* M31 - Report time since last M109 or SD card start to serial.
* M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
* Use P to run other files as sub-programs: "M32 P !filename#"
Naming and code comments
2015-04-14 00:17:36 +00:00
* The '#' is necessary when calling from within sd files, as it stops buffer prereading
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
New feature: SDCARD_SORT_ALPHA
2017-02-09 13:02:25 +00:00
* M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
* M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
* M75 - Start the print job timer.
* M76 - Pause the print job timer.
* M77 - Stop the print job timer.
* M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
Tweak M80/M81 descriptions
2017-05-11 07:32:08 +00:00
* M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0)
* M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M82 - Set E codes absolute (default).
* M83 - Set E codes relative while in Absolute (G90) mode.
* M84 - Disable steppers until next move, or use S<seconds> to specify an idle
* duration after which steppers should turn off. S0 disables the timeout.
Naming and code comments
2015-04-14 00:17:36 +00:00
* M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M92 - Set planner.axis_steps_per_mm for one or more axes.
Add some GCodes to the header of Marlin_main.cpp
2017-05-12 03:25:06 +00:00
* M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M104 - Set extruder target temp.
* M105 - Report current temperatures.
* M106 - Fan on.
* M107 - Fan off.
* M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
Naming and code comments
2015-04-14 00:17:36 +00:00
* M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
* Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
Support for an RGB LED using 3 pins
2016-11-30 01:51:13 +00:00
* If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M110 - Set the current line number. (Used by host printing)
* M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
* M112 - Emergency stop.
* M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
* M114 - Report current position.
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
* M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M117 - Display a message on the controller screen. (Requires an LCD)
* M119 - Report endstops status.
* M120 - Enable endstops detection.
* M121 - Disable endstops detection.
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
* M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M126 - Solenoid Air Valve Open. (Requires BARICUDA)
* M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
* M128 - EtoP Open. (Requires BARICUDA)
* M129 - EtoP Closed. (Requires BARICUDA)
* M140 - Set bed target temp. S<temp>
* M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
* M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
Support for an RGB LED using 3 pins
2016-11-30 01:51:13 +00:00
* M150 - Set Status LED Color as R<red> U<green> B<blue>. Values 0-255. (Requires BLINKM or RGB_LED)
Add M155 - Auto-report temperature with interval
2016-11-09 00:03:40 +00:00
* M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
* M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS)
* M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER)
* M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! **
* Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. **
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
* M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
* M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
* M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* M205 - Set advanced settings. Current units apply:
S<print> T<travel> minimum speeds
B<minimum segment time>
Add note for M205
2016-10-03 06:54:15 +00:00
X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
* M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
* M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
* M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
Every normal extrude-only move will be classified as retract depending on the direction.
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
* M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
* M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
* M221 - Set Flow Percentage: "M221 S<percent>"
* M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
* M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
* M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
M155=>M260, M156=>M261
2016-11-08 22:28:42 +00:00
* M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
* M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
Naming and code comments
2015-04-14 00:17:36 +00:00
* M300 - Play beep sound S<frequency Hz> P<duration ms>
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M301 - Set PID parameters P I and D. (Requires PIDTEMP)
* M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
* M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
* M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
* M350 - Set microstepping mode. (Requires digital microstepping pins.)
* M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
Add M355 to the GCodes list.
2016-11-02 21:43:52 +00:00
* M355 - Turn the Case Light on/off and set its brightness. (Requires CASE_LIGHT_PIN)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
* M381 - Disable all solenoids. (Requires EXT_SOLENOID)
* M400 - Finish all moves.
* M401 - Lower Z probe. (Requires a probe)
* M402 - Raise Z probe. (Requires a probe)
* M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
* M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
* M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
* M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
* M410 - Quickstop. Abort all planned moves.
M420 can now enable/disable ABL
2016-09-29 06:03:28 +00:00
* M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
Fix M421 AUTO_BED_LEVELING_BILINEAR and AUTO_BED_LEVELING_UBL M421 was not connected up for AUTO_BED_LEVELING_BILINEAR. M421 needed to migrate mesh data to new UBL EEPROM layout.
2017-04-02 21:13:15 +00:00
* M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL)
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
* M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
* M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
* M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
* M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
* M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
* M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires FILAMENT_CHANGE_FEATURE)
Apply updated changes for delta_tower_angle_trim
2017-03-07 22:35:27 +00:00
* M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M666 - Set delta endstop adjustment. (Requires DELTA)
* M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
* M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
* M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE)
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
* M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
* M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
* M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
* M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
* M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
* M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
Naming and code comments
2015-04-14 00:17:36 +00:00
*
* M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
* M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
* M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
* M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
* M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
*
Describe Custom M Code
2015-05-19 11:25:15 +00:00
* ************ Custom codes - This can change to suit future G-code regulations
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
Naming and code comments
2015-04-14 00:17:36 +00:00
* M999 - Restart after being stopped by error
Update headings in Marlin_main.cpp and stepper.cpp
2015-05-17 08:44:53 +00:00
*
* "T" Codes
*
Include requirements in "Implemented Codes"
2016-09-25 12:50:11 +00:00
* T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
Update headings in Marlin_main.cpp and stepper.cpp
2015-05-17 08:44:53 +00:00
*
Naming and code comments
2015-04-14 00:17:36 +00:00
*/
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Move GCode list above include lines
2016-11-19 03:54:38 +00:00
#include "Marlin.h"
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "endstops.h"
#include "temperature.h"
#include "cardreader.h"
#include "configuration_store.h"
#include "language.h"
#include "pins_arduino.h"
#include "math.h"
#include "nozzle.h"
#include "duration_t.h"
#include "types.h"
#if HAS_ABL
#include "vector_3.h"
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#include "qr_solve.h"
#endif
#elif ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#endif
#if ENABLED(BEZIER_CURVE_SUPPORT)
#include "planner_bezier.h"
#endif
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
#include "buzzer.h"
#endif
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
#if ENABLED(BLINKM)
#include "blinkm.h"
#include "Wire.h"
#endif
#if HAS_SERVOS
#include "servo.h"
#endif
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
#include "stepper_dac.h"
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
#include "twibus.h"
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include "endstop_interrupts.h"
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(M100_FREE_MEMORY_WATCHER)
Rename as M100
2015-07-18 23:59:12 +00:00
void gcode_M100();
Cleanup after some direct commits https://github.com/MarlinFirmware/Marlin/commit/5e9726530ff21d3bc62beaa6 ac1b9437c276130a
2017-04-16 22:33:22 +00:00
void M100_dump_routine(const char * const title, const char *start, const char *end);
Memory watcher
2015-07-06 00:42:13 +00:00
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(SDSUPPORT)
Clean up some formatting - Also partial cleanup of Marlin_main.cpp with a smidgen of Doxygen.
2015-01-30 02:52:21 +00:00
CardReader card;
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
#endif
Clean up some formatting - Also partial cleanup of Marlin_main.cpp with a smidgen of Doxygen.
2015-01-30 02:52:21 +00:00
Implemented M155 and M156, a generic TWI/I2C interface for Marlin
2016-03-26 23:25:28 +00:00
#if ENABLED(EXPERIMENTAL_I2CBUS)
TWIBus i2c;
#endif
Rename feature to G38_PROBE_TARGET
2016-09-29 20:06:01 +00:00
#if ENABLED(G38_PROBE_TARGET)
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
bool G38_move = false,
G38_endstop_hit = false;
code changes to implement G38 commands 1) modified 3 code files Marlin.h Marlin_main.cpp endstops.cpp 2) modified config files so I could test on my machine Testing was done on an AzteegX3pro based machine. The probe was hooked to the Z_MIN endstop. My controller doesn't have a dedicated Z_PROBE input so I couldn't test that functionality. Verified that a large file (without any G38 commands) executed the same before and after the changes. Verified that the head moves as expected when G38.2 and G38.3 commands are issued. Single & multiple axis moves were tested along with + and - directions. Code was added to the main ISR. In normal operation only one extra IF statement is evaluated. I didn't notice any performance degradation because of the added code. The G38 commands are expected to be issued manually by the operator during machine setup. The G38 commands wait until the machine is idle before proceeding. That way the other commands are minimally impacted by the extra ISR overhead when a G38 command is in the queue. The G38 commands are very similar to the G28 commands except 1) only the Z_PROBE is used and movement can be in the + or - direction. See issue 4677 for a discussion on adding G38 commands to Marlin. Feature request: add ability to use G38.2 command (CNC) MarlinFirmware/Marlin#4677
2016-09-19 19:17:10 +00:00
#endif
UBL implementation
2017-03-18 15:15:54 +00:00
#if ENABLED(AUTO_BED_LEVELING_UBL)
Rename all UBL files with a ubl_ prefix
2017-04-06 00:25:36 +00:00
#include "ubl.h"
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
unified_bed_leveling ubl;
Further repairs to UBL, comments, spacing
2017-03-31 02:32:50 +00:00
#define UBL_MESH_VALID !( ( ubl.z_values[0][0] == ubl.z_values[0][1] && ubl.z_values[0][1] == ubl.z_values[0][2] \
&& ubl.z_values[1][0] == ubl.z_values[1][1] && ubl.z_values[1][1] == ubl.z_values[1][2] \
&& ubl.z_values[2][0] == ubl.z_values[2][1] && ubl.z_values[2][1] == ubl.z_values[2][2] \
&& ubl.z_values[0][0] == 0 && ubl.z_values[1][0] == 0 && ubl.z_values[2][0] == 0 ) \
|| isnan(ubl.z_values[0][0]))
UBL implementation
2017-03-18 15:15:54 +00:00
#endif
IsStopped / IsRunning inline
2015-04-08 07:56:19 +00:00
bool Running = true;
Echo all debug levels in M111, default to DEBUG_NONE Redo of #3268 by @jbrazio
2016-03-30 02:18:45 +00:00
uint8_t marlin_debug_flags = DEBUG_NONE;
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
/**
* Cartesian Current Position
* Used to track the logical position as moves are queued.
* Used by 'line_to_current_position' to do a move after changing it.
* Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
*/
float current_position[XYZE] = { 0.0 };
/**
* Cartesian Destination
* A temporary position, usually applied to 'current_position'.
* Set with 'gcode_get_destination' or 'set_destination_to_current'.
* 'line_to_destination' sets 'current_position' to 'destination'.
*/
UBL implementation
2017-03-18 15:15:54 +00:00
float destination[XYZE] = { 0.0 };
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
/**
* axis_homed
* Flags that each linear axis was homed.
* XYZ on cartesian, ABC on delta, ABZ on SCARA.
*
* axis_known_position
* Flags that the position is known in each linear axis. Set when homed.
* Cleared whenever a stepper powers off, potentially losing its position.
*/
bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
IsStopped / IsRunning inline
2015-04-08 07:56:19 +00:00
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
/**
* GCode line number handling. Hosts may opt to include line numbers when
* sending commands to Marlin, and lines will be checked for sequentiality.
Fix M110 without leading N Store N in the right variable. This is too rarely used. "mea culpa, mea culpa, mea maxima culpa"
2017-01-13 11:19:16 +00:00
* M110 N<int> sets the current line number.
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
*/
IsStopped / IsRunning inline
2015-04-08 07:56:19 +00:00
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
Naming and code comments
2015-04-14 00:17:36 +00:00
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
/**
* GCode Command Queue
* A simple ring buffer of BUFSIZE command strings.
*
* Commands are copied into this buffer by the command injectors
* (immediate, serial, sd card) and they are processed sequentially by
* the main loop. The process_next_command function parses the next
* command and hands off execution to individual handler functions.
*/
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
uint8_t commands_in_queue = 0; // Count of commands in the queue
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
cmd_queue_index_w = 0; // Ring buffer write position
Setup to find data corruption and general clean up This data corruption problem is very difficult. Just changing the code a little bit changes whether the problem even happens and what is affected. I need these changes in the main branch so I can operate with the extra debug code always available and turned on. Everything is setup such that if M100 is turned off or DEBUG(ECHO) is turned off, the code is not affected. M100 has been made a little bit more inteligent so it can display the serial command buffers in a more meaningful way (because the data corruption seems to often times end up in that area).
2017-04-16 00:14:40 +00:00
#if ENABLED(M100_FREE_MEMORY_WATCHER)
char command_queue[BUFSIZE][MAX_CMD_SIZE]; // Necessary so M100 Free Memory Dumper can show us the commands and any corruption
#else // This can be collapsed back to the way it was soon.
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
static char command_queue[BUFSIZE][MAX_CMD_SIZE];
Setup to find data corruption and general clean up This data corruption problem is very difficult. Just changing the code a little bit changes whether the problem even happens and what is affected. I need these changes in the main branch so I can operate with the extra debug code always available and turned on. Everything is setup such that if M100 is turned off or DEBUG(ECHO) is turned off, the code is not affected. M100 has been made a little bit more inteligent so it can display the serial command buffers in a more meaningful way (because the data corruption seems to often times end up in that area).
2017-04-16 00:14:40 +00:00
#endif
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
/**
* Current GCode Command
* When a GCode handler is running, these will be set
*/
static char *current_command, // The command currently being executed
*current_command_args, // The address where arguments begin
*seen_pointer; // Set by code_seen(), used by the code_value functions
/**
* Next Injected Command pointer. NULL if no commands are being injected.
* Used by Marlin internally to ensure that commands initiated from within
* are enqueued ahead of any pending serial or sd card commands.
*/
static const char *injected_commands_P = NULL;
IsStopped / IsRunning inline
2015-04-08 07:56:19 +00:00
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
#if ENABLED(INCH_MODE_SUPPORT)
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
float linear_unit_factor = 1.0, volumetric_unit_factor = 1.0;
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
#endif
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
TempUnit input_temp_units = TEMPUNIT_C;
#endif
Append units to feedrate variables
2016-07-16 01:49:34 +00:00
/**
* Feed rates are often configured with mm/m
* but the planner and stepper like mm/s units.
*/
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
float constexpr homing_feedrate_mm_s[] = {
Set homing feedrates individually
2016-07-20 00:11:57 +00:00
#if ENABLED(DELTA)
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
Set homing feedrates individually
2016-07-20 00:11:57 +00:00
#else
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
Set homing feedrates individually
2016-07-20 00:11:57 +00:00
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
Set homing feedrates individually
2016-07-20 00:11:57 +00:00
};
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s;
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
int feedrate_percentage = 100, saved_feedrate_percentage,
flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
guaranteed BLTouch detection To guarantee that the 5mS pulse from a BLTouch is recognized you need to have the endstops.update() routine run twice in that 5mS period. At 200 steps per mm, my system has problems below a feedrate of 120 mm per minute. Two things were done to guarantee the two updates within 5mS: 1) In interrupt mode, a check was added to the temperature ISR. If the endstop interrupt flag/counter is active then it'll kick off the endstop update routine every 1mS until the flag/counter is zero. This flag/counter is decremented by the temperature ISR AND by the stepper ISR. 2) In poling mode, code was added to the stepper ISR that will make sure the ISR runs about every 1.5mS. The "extra" ISR runs only check the endstops. This was done by grabbing the intended ISR delay and, if it's over 2.0mS, splitting the intended delay into multiple smaller delays. The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and the last no less than 0.5mS. ========================================= BLTouch error state recovery If BLTouch already active when deploying the probe then try to reset it & clear the probe. If that doesn't fix it then declare an error. Also added BLTouch init routine to startup section
2017-01-22 00:10:02 +00:00
volumetric_enabled =
Add hidden option to output Bilinear grids in JSON
2017-04-05 07:55:25 +00:00
#if ENABLED(VOLUMETRIC_DEFAULT_ON)
true
#else
false
#endif
Allow enabling volumetric filament on config load
2017-01-02 03:10:50 +00:00
;
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
Update software endstop positions with M206, M428, G92, etc.
2016-03-24 10:55:18 +00:00
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_WORKSPACE_OFFSET
#if HAS_POSITION_SHIFT
// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[XYZ] = { 0 };
#endif
#if HAS_HOME_OFFSET
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[XYZ] = { 0 };
#endif
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
// The above two are combined to save on computes
float workspace_offset[XYZ] = { 0 };
#endif
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
#endif
min_pos/max_pos => sw_endstop_min/sw_endstop_max
2016-04-18 06:11:35 +00:00
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
// Software Endstops are based on the configured limits.
Add HAS_SOFTWARE_ENDSTOPS macro
2017-03-16 22:20:24 +00:00
#if HAS_SOFTWARE_ENDSTOPS
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
bool soft_endstops_enabled = true;
#endif
float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
IsStopped / IsRunning inline
2015-04-08 07:56:19 +00:00
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
#if FAN_COUNT > 0
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
int16_t fanSpeeds[FAN_COUNT] = { 0 };
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
#if ENABLED(PROBING_FANS_OFF)
bool fans_paused = false;
int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
#endif
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
#endif
Document some variables
2016-04-18 06:13:07 +00:00
// The active extruder (tool). Set with T<extruder> command.
Group all universal variables
2015-04-03 22:45:41 +00:00
uint8_t active_extruder = 0;
Document some variables
2016-04-18 06:13:07 +00:00
// Relative Mode. Enable with G91, disable with G90.
static bool relative_mode = false;
Comment some globals
2016-10-07 03:06:33 +00:00
// For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
Make wait_for_heatup volatile
2016-07-07 02:59:19 +00:00
volatile bool wait_for_heatup = true;
IsStopped / IsRunning inline
2015-04-08 07:56:19 +00:00
Comment some globals
2016-10-07 03:06:33 +00:00
// For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
Add HAS_RESUME_CONTINUE shorthand macro
2017-04-09 16:12:08 +00:00
#if HAS_RESUME_CONTINUE
Enable M0/M1 with Emergency Parser
2016-09-15 07:53:46 +00:00
volatile bool wait_for_user = false;
Implement M0/M1 for EMERGENCY_PARSER
2016-09-12 01:51:53 +00:00
#endif
Use XYZE rather than NUM_AXIS
2017-03-18 02:14:05 +00:00
const char axis_codes[XYZE] = {'X', 'Y', 'Z', 'E'};
IsStopped / IsRunning inline
2015-04-08 07:56:19 +00:00
Comment some globals
2016-10-07 03:06:33 +00:00
// Number of characters read in the current line of serial input
Group all universal variables
2015-04-03 22:45:41 +00:00
static int serial_count = 0;
Document some variables
2016-04-18 06:13:07 +00:00
Group all universal variables
2015-04-03 22:45:41 +00:00
// Inactivity shutdown
Apply three more commits
2015-04-13 01:07:08 +00:00
millis_t previous_cmd_ms = 0;
static millis_t max_inactive_time = 0;
Test time difference in safe way
2016-04-10 22:55:12 +00:00
static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
Document some variables
2016-04-18 06:13:07 +00:00
// Print Job Timer
Added new G-Code: M78
2016-04-27 01:13:27 +00:00
#if ENABLED(PRINTCOUNTER)
PrintCounter print_job_timer = PrintCounter();
#else
Stopwatch print_job_timer = Stopwatch();
#endif
Document some variables
2016-04-18 06:13:07 +00:00
Buzzer requires BEEPER_PIN
2016-08-02 04:10:53 +00:00
// Buzzer - I2C on the LCD or a BEEPER_PIN
#if ENABLED(LCD_USE_I2C_BUZZER)
#define BUZZ(d,f) lcd_buzz(d, f)
Fix buzzer conditional compile
2016-10-05 02:31:50 +00:00
#elif PIN_EXISTS(BEEPER)
Buzzer requires BEEPER_PIN
2016-08-02 04:10:53 +00:00
Buzzer buzzer;
#define BUZZ(d,f) buzzer.tone(d, f)
#else
#define BUZZ(d,f) NOOP
Non-blocking buzzer
2016-06-04 19:29:01 +00:00
#endif
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
static uint8_t target_extruder;
Group all universal variables
2015-04-03 22:45:41 +00:00
Make M851 standard with a bed probe
2016-06-15 01:05:20 +00:00
#if HAS_BED_PROBE
float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
#endif
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#if HAS_ABL
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
#define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
Make XY_PROBE_SPEED a general probe option
2016-06-22 09:44:55 +00:00
#elif defined(XY_PROBE_SPEED)
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
#define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
Add a macro for XY_TRAVEL_FEEDRATE
2016-06-22 09:22:43 +00:00
#else
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
#define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
Group all universal variables
2015-04-03 22:45:41 +00:00
#endif
Make USE_DELTA_IK_INTERPOLATION compatible with ABL
2016-10-09 20:19:39 +00:00
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
Patch ADJUST_DELTA macro for SCARA
2016-10-10 22:05:11 +00:00
#if ENABLED(DELTA)
#define ADJUST_DELTA(V) \
if (planner.abl_enabled) { \
const float zadj = bilinear_z_offset(V); \
delta[A_AXIS] += zadj; \
delta[B_AXIS] += zadj; \
delta[C_AXIS] += zadj; \
}
#else
#define ADJUST_DELTA(V) if (planner.abl_enabled) { delta[Z_AXIS] += bilinear_z_offset(V); }
#endif
Make USE_DELTA_IK_INTERPOLATION compatible with ABL
2016-10-09 20:19:39 +00:00
#elif IS_KINEMATIC
#define ADJUST_DELTA(V) NOOP
#endif
Sanity check Z_DUAL_ENDSTOPS with DELTA
2016-08-07 23:54:56 +00:00
#if ENABLED(Z_DUAL_ENDSTOPS)
UBL patch from Bob-the-Kuhn
2017-03-20 20:38:25 +00:00
float z_endstop_adj =
#ifdef Z_DUAL_ENDSTOPS_ADJUSTMENT
Z_DUAL_ENDSTOPS_ADJUSTMENT
#else
0
#endif
;
Group all universal variables
2015-04-03 22:45:41 +00:00
#endif
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
Restore extruder_offset, init more simply
2015-03-31 09:49:47 +00:00
// Extruder offsets
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
#if HOTENDS > 1
Save hotend_offset array (M218) in EEPROM
2016-10-28 23:39:23 +00:00
float hotend_offset[XYZ][HOTENDS];
Only compile the new extruder offset code if you have multiple extruders.
2013-02-27 11:32:07 +00:00
#endif
Clean up some formatting - Also partial cleanup of Marlin_main.cpp with a smidgen of Doxygen.
2015-01-30 02:52:21 +00:00
HAS_Z_ENDSTOP_SERVO => HAS_Z_SERVO_ENDSTOP
2016-06-17 01:15:48 +00:00
#if HAS_Z_SERVO_ENDSTOP
Remove support for XY servo endstops
2016-06-14 03:18:24 +00:00
const int z_servo_angle[2] = Z_SERVO_ANGLES;
Missed some variable declarations Integrated fixes from henrikbrixandersen pull request #504
2013-06-06 16:18:03 +00:00
#endif
Clean up some formatting - Also partial cleanup of Marlin_main.cpp with a smidgen of Doxygen.
2015-01-30 02:52:21 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(BARICUDA)
Rename baricuda variables
2016-04-18 06:12:15 +00:00
int baricuda_valve_pressure = 0;
int baricuda_e_to_p_pressure = 0;
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
#endif
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(FWRETRACT)
Clean up some formatting - Also partial cleanup of Marlin_main.cpp with a smidgen of Doxygen.
2015-01-30 02:52:21 +00:00
bool autoretract_enabled = false;
ARRAY_BY_EXTRUDERS, shorthand to sync planner - Add some documentation to planner and stepper headers - Patch up RAMBO pins with undefs - Add `sync_plan_position` inline to set current XYZE - Swap indices in `extruder_offset` to fix initialization values
2015-03-29 03:33:21 +00:00
bool retracted[EXTRUDERS] = { false };
bool retracted_swap[EXTRUDERS] = { false };
Implementation of FW extruder change retract FW retraction is extended onto swap retraction invoked by 'G10 S1'. Bookkeeping of the retract state of all extruders allows for having one extruder fw standard retracted while another extruder is swap retracted. An LCD menu item for the swap retract and recover length was added.
2014-06-02 15:02:10 +00:00
Move FWRETRACT defaults to configuration_adv.h
2014-02-17 03:00:28 +00:00
float retract_length = RETRACT_LENGTH;
Implementation of FW extruder change retract FW retraction is extended onto swap retraction invoked by 'G10 S1'. Bookkeeping of the retract state of all extruders allows for having one extruder fw standard retracted while another extruder is swap retracted. An LCD menu item for the swap retract and recover length was added.
2014-06-02 15:02:10 +00:00
float retract_length_swap = RETRACT_LENGTH_SWAP;
Tweak some feedrate vars
2016-06-22 10:27:31 +00:00
float retract_feedrate_mm_s = RETRACT_FEEDRATE;
Move FWRETRACT defaults to configuration_adv.h
2014-02-17 03:00:28 +00:00
float retract_zlift = RETRACT_ZLIFT;
float retract_recover_length = RETRACT_RECOVER_LENGTH;
Implementation of FW extruder change retract FW retraction is extended onto swap retraction invoked by 'G10 S1'. Bookkeeping of the retract state of all extruders allows for having one extruder fw standard retracted while another extruder is swap retracted. An LCD menu item for the swap retract and recover length was added.
2014-06-02 15:02:10 +00:00
float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
Append units to feedrate variables
2016-07-16 01:49:34 +00:00
float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
Clean up some formatting - Also partial cleanup of Marlin_main.cpp with a smidgen of Doxygen.
2015-01-30 02:52:21 +00:00
Add 4th extruder
2015-01-23 22:13:06 +00:00
#endif // FWRETRACT
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
"M80 S" to report the state of the PSU pin
2017-05-10 16:07:58 +00:00
#if HAS_POWER_SWITCH
bool powersupply_on =
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(PS_DEFAULT_OFF)
Clean up some formatting - Also partial cleanup of Marlin_main.cpp with a smidgen of Doxygen.
2015-01-30 02:52:21 +00:00
false
#else
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
true
Clean up some formatting - Also partial cleanup of Marlin_main.cpp with a smidgen of Doxygen.
2015-01-30 02:52:21 +00:00
#endif
;
Toggle menu for PSU from LCD pannel From the prepare menu, accessible when is not printing, you have the possibility to turn off the PSU when is on et vice versa. From the host, you can turn off or turn on the PSU then the menu is updated accordingly. From the LCD message, the printer status is reported ready or off respectively when the PSU is on or off.
2013-03-05 13:52:51 +00:00
#endif
Fix for the PR #5255 (Case light menu (3rd attempt))
2016-12-15 15:57:32 +00:00
#if HAS_CASE_LIGHT
Added Menu entry for Case light
2016-11-19 10:17:39 +00:00
bool case_light_on =
#if ENABLED(CASE_LIGHT_DEFAULT_ON)
true
#else
false
#endif
;
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DELTA)
Trim Adjustments for Delta Configurations
2015-09-03 05:38:47 +00:00
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
float delta[ABC],
endstop_adj[ABC] = { 0 };
Use arrays for delta tower parameters
2017-03-07 23:42:04 +00:00
// These values are loaded or reset at boot time when setup() calls
Convert config code to a static class
2017-04-10 02:47:49 +00:00
// settings.load(), which calls recalc_delta_settings().
Use arrays for delta tower parameters
2017-03-07 23:42:04 +00:00
float delta_radius,
M665 rework and related issues (all delta's) - Making M665 compatible with repetier (see http://reprap.org/wiki/G_code#M665:_Set_delta_configuration) - M665 B also sets the radius for manual calibration menu - Converting tower ajustment definitions to arrays - tower angle corrections compatible with Esher 3D wizzard - Only tower angles need to be adjustable with M665 and stored to EEPROM - tower radius and diag rod can be adjusted in the FW only with #define
2017-04-18 12:43:25 +00:00
delta_tower_angle_trim[2],
Use arrays for delta tower parameters
2017-03-07 23:42:04 +00:00
delta_tower[ABC][2],
delta_diagonal_rod,
M665 rework and related issues (all delta's) - Making M665 compatible with repetier (see http://reprap.org/wiki/G_code#M665:_Set_delta_configuration) - M665 B also sets the radius for manual calibration menu - Converting tower ajustment definitions to arrays - tower angle corrections compatible with Esher 3D wizzard - Only tower angles need to be adjustable with M665 and stored to EEPROM - tower radius and diag rod can be adjusted in the FW only with #define
2017-04-18 12:43:25 +00:00
delta_calibration_radius,
Use arrays for delta tower parameters
2017-03-07 23:42:04 +00:00
delta_diagonal_rod_2_tower[ABC],
delta_segments_per_second,
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
delta_clip_start_height = Z_MAX_POS;
Move kinematic functions to "private" scope
2016-07-21 21:37:10 +00:00
float delta_safe_distance_from_top();
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
Group all universal variables
2015-04-03 22:45:41 +00:00
#endif
Changed the declaration of the variable to Marlin_main.cpp to fix issue on commit #965
2014-07-01 14:45:03 +00:00
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
Fixup reset_bed_level
2016-12-10 07:54:09 +00:00
int bilinear_grid_spacing[2], bilinear_start[2];
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
float bilinear_grid_factor[2],
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
Rename delta_grid spacing for general nonlinear
2016-09-12 01:56:16 +00:00
#endif
Add conditionals for kinematics, leveling
2016-09-12 01:11:30 +00:00
#if IS_SCARA
// Float constants for SCARA calculations
const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
L2_2 = sq(float(L2));
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
Remove SCARA axis_scaling
2016-09-16 19:31:53 +00:00
delta[ABC];
Static delta[] for SCARA
2015-04-03 23:46:56 +00:00
#endif
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
float cartes[XYZ] = { 0 };
FILAMENT_SENSOR -> FILAMENT_WIDTH_SENSOR
2016-03-30 03:28:23 +00:00
#if ENABLED(FILAMENT_WIDTH_SENSOR)
Cosmetic patches
2017-04-26 07:43:11 +00:00
bool filament_sensor = false; // M405 turns on filament sensor control. M406 turns it off.
float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404.
Tweak Filament Width variables
2016-09-06 04:57:12 +00:00
filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter
Cosmetic patches
2017-04-26 07:43:11 +00:00
int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
int filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer
int meas_delay_cm = MEASUREMENT_DELAY_CM; // Distance delay setting
Real-time filament diameter measurement and control This feature allows the printer to read the filament diameter automatically and adjust the printer in real time. Added code to read an analog voltage that represents a filament diameter measurement. This measurement is delayed in a ring buffer to compensate for sensors that are a distance away from the extruder. The measurement is used to adjust the volumetric_multiplier for the extruder. Some additional g codes (M404, M405, M406, M407) are used to set parameters and turn on/off the control. g code M221 is updated. Pins for RAMPS1.4, RAMBO, and Printrboard are identified for analog input. The configuration file is updated with relevant user parameters.
2014-08-07 00:30:57 +00:00
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
Rename filament runout items
2016-04-18 06:16:49 +00:00
static bool filament_ran_out = false;
Filament Runout Sensor Feature With this change a mechanical or optical switch may be used to check the availability of the filament and when the filament runs out an M600 (filament change) command is issued. This is only done while printing with an SD card. This feature was requested several times (issue #679), but the requests were not accepted since it was believed that this situation should be handled at host side. However during an SD print the control is totally on firmware and I think that during an SD print it should be handled by the firmware. The original code was posted at reprap forum (http://forums.reprap.org/read.php?1,297350) by Lazymonk. I have only corrected some bugs of the code and improved it by adding definitions to the configuration.h in order to make it more standardized.
2015-03-07 20:43:15 +00:00
#endif
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
#if ENABLED(FILAMENT_CHANGE_FEATURE)
FilamentChangeMenuResponse filament_change_menu_response;
#endif
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(MIXING_EXTRUDER)
Store Mix factors as reciprocals and multiply
2016-11-12 20:33:07 +00:00
float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if MIXING_VIRTUAL_TOOLS > 1
float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
#endif
#endif
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
static bool send_ok[BUFSIZE];
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if HAS_SERVOS
Rename servos[] array in Marlin to servo[]
2015-04-14 10:13:25 +00:00
Servo servo[NUM_SERVOS];
Add macros to move servos
2016-06-12 22:35:01 +00:00
#define MOVE_SERVO(I, P) servo[I].move(P)
Add a dependency for z servo macros
2016-06-22 21:04:23 +00:00
#if HAS_Z_SERVO_ENDSTOP
#define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
#define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
#endif
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
#endif
Added CHDK support Added CHDK support to take pictures instead of doing an IR command, see more about how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
2014-03-10 20:57:08 +00:00
#ifdef CHDK
Test time difference in safe way
2016-04-10 22:55:12 +00:00
millis_t chdkHigh = 0;
Replace all remaining 'boolean' with 'bool'
2017-01-13 12:03:52 +00:00
bool chdkActive = false;
Added CHDK support Added CHDK support to take pictures instead of doing an IR command, see more about how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
2014-03-10 20:57:08 +00:00
#endif
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
#ifdef AUTOMATIC_CURRENT_CONTROL
bool auto_current_control = 0;
#endif
PID_EXTRUSION_SCALING, disabled by default
2016-08-01 00:49:34 +00:00
#if ENABLED(PID_EXTRUSION_SCALING)
Implement PID_ADD_EXTRUSION_RATE
2015-08-31 02:04:30 +00:00
int lpq_len = 20;
#endif
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
#if ENABLED(HOST_KEEPALIVE_FEATURE)
Make MBL a static class, use lookup for index-to-point conversion
2017-03-31 06:28:07 +00:00
MarlinBusyState busy_state = NOT_BUSY;
Test time difference in safe way
2016-04-10 22:55:12 +00:00
static millis_t next_busy_signal_ms = 0;
Implement basic HOST_KEEPALIVE_INTERVAL
2016-04-07 00:31:18 +00:00
uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
#else
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
#define host_keepalive() NOOP
#endif
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
Marlin: Slight cleanup to Marlin_main.cpp
2016-10-24 17:03:41 +00:00
static inline float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
static inline signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
Move XYZ constants closer to the top
2016-09-06 00:56:03 +00:00
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
Marlin: Slight cleanup to Marlin_main.cpp
2016-10-24 17:03:41 +00:00
static const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
Fix up XYZ_CONSTS_FROM_CONFIG macro
2017-04-24 18:16:54 +00:00
static inline type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
typedef void __void_##CONFIG##__
Move XYZ constants closer to the top
2016-09-06 00:56:03 +00:00
Fix up XYZ_CONSTS_FROM_CONFIG macro
2017-04-24 18:16:54 +00:00
XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
Move XYZ constants closer to the top
2016-09-06 00:56:03 +00:00
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
* ***************************************************************************
* ******************************** FUNCTIONS ********************************
* ***************************************************************************
*/
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
lowercase "stop" function
2016-04-18 07:05:22 +00:00
void stop();
Split get_command into units, rename to get_available_commands
2016-03-28 12:25:27 +00:00
void get_available_commands();
Rename preocess_command to process_next_command
2015-05-17 03:47:40 +00:00
void process_next_command();
Clarify names of prepare_move functions
2016-06-11 02:23:41 +00:00
void prepare_move_to_destination();
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
void get_cartesian_from_steppers();
set_current_from_steppers_for_axis const arg
2016-09-15 04:50:17 +00:00
void set_current_from_steppers_for_axis(const AxisEnum axis);
Rename preocess_command to process_next_command
2015-05-17 03:47:40 +00:00
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
#if ENABLED(ARC_SUPPORT)
Use XYZE rather than NUM_AXIS
2017-03-18 02:14:05 +00:00
void plan_arc(float target[XYZE], float* offset, uint8_t clockwise);
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
#endif
G2/G3 Arcs for Delta - Update prepare_move_delta to take a target argument - Add Delta support to plan_arc
2015-07-19 17:48:20 +00:00
Add BEZIER_CURVE_SUPPORT (G5 XYZEFIJPQ)
2016-05-12 20:33:47 +00:00
#if ENABLED(BEZIER_CURVE_SUPPORT)
void plan_cubic_move(const float offset[4]);
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
Call report_current_position instead of gcode_M114 directly
2016-04-26 01:23:09 +00:00
static void report_current_position();
Send position updates to RH Send position updates to RH where RH can not know the end position. For example after G28 RepetierHost assumes to be at the homing-point, but with a servo probe we are much higher. Now the RH-software-endstops will prevent us from going down (if activated). With this patch the internal position of RH is updated with `current_position[]`.
2016-03-23 12:30:50 +00:00
Apply esenapaj 3479 and delta/scara position bugfix
2016-04-13 03:58:27 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Use varname as prefix in DEBUG_POS, string as suffix
2016-07-13 01:14:59 +00:00
void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
serialprintPGM(prefix);
Fix up XYZ_CONSTS_FROM_CONFIG macro
2017-04-24 18:16:54 +00:00
SERIAL_CHAR('(');
SERIAL_ECHO(x);
Apply esenapaj 3479 and delta/scara position bugfix
2016-04-13 03:58:27 +00:00
SERIAL_ECHOPAIR(", ", y);
SERIAL_ECHOPAIR(", ", z);
Fix single-char echo and pinMode usage
2017-03-18 15:17:00 +00:00
SERIAL_CHAR(')');
Fixes an PSTR overflow with print_xyz()
2016-07-15 10:25:34 +00:00
Fix up XYZ_CONSTS_FROM_CONFIG macro
2017-04-24 18:16:54 +00:00
suffix ? serialprintPGM(suffix) : SERIAL_EOL;
Apply esenapaj 3479 and delta/scara position bugfix
2016-04-13 03:58:27 +00:00
}
Fixes an PSTR overflow with print_xyz()
2016-07-15 10:25:34 +00:00
void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
Use varname as prefix in DEBUG_POS, string as suffix
2016-07-13 01:14:59 +00:00
print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
Apply esenapaj 3479 and delta/scara position bugfix
2016-04-13 03:58:27 +00:00
}
Fixes an PSTR overflow with print_xyz()
2016-07-15 10:25:34 +00:00
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#if HAS_ABL
Fixes an PSTR overflow with print_xyz()
2016-07-15 10:25:34 +00:00
void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
Use varname as prefix in DEBUG_POS, string as suffix
2016-07-13 01:14:59 +00:00
print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
Fix debugging of vector_3
2016-04-14 07:00:21 +00:00
}
#endif
Fixes an PSTR overflow with print_xyz()
2016-07-15 10:25:34 +00:00
#define DEBUG_POS(SUFFIX,VAR) do { \
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
Apply esenapaj 3479 and delta/scara position bugfix
2016-04-13 03:58:27 +00:00
#endif
Move sync_plan_position closer to the top
2016-07-24 20:27:09 +00:00
/**
* sync_plan_position
Patch sync_plan_position comment
2016-09-15 05:38:02 +00:00
*
* Set the planner/stepper positions directly from current_position with
* no kinematic translation. Used for homing axes and cartesian/core syncing.
Move sync_plan_position closer to the top
2016-07-24 20:27:09 +00:00
*/
inline void sync_plan_position() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
#endif
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
Add conditionals for kinematics, leveling
2016-09-12 01:11:30 +00:00
#if IS_KINEMATIC
Use ABC indices in delta[]
2016-09-15 06:21:31 +00:00
sync_plan_position_delta => sync_plan_position_kinematic
2016-09-12 02:30:59 +00:00
inline void sync_plan_position_kinematic() {
Initialize stepper counts for Delta/SCARA
2016-04-12 01:25:39 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
sync_plan_position_delta => sync_plan_position_kinematic
2016-09-12 02:30:59 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
Initialize stepper counts for Delta/SCARA
2016-04-12 01:25:39 +00:00
#endif
Improve planner kinematics, fix delta ABL
2016-10-06 08:56:05 +00:00
planner.set_position_mm_kinematic(current_position);
Initialize stepper counts for Delta/SCARA
2016-04-12 01:25:39 +00:00
}
sync_plan_position_delta => sync_plan_position_kinematic
2016-09-12 02:30:59 +00:00
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
Use ABC indices in delta[]
2016-09-15 06:21:31 +00:00
Use a macro for kinematic sync_plan_position
2016-06-22 01:56:25 +00:00
#else
Use ABC indices in delta[]
2016-09-15 06:21:31 +00:00
Use a macro for kinematic sync_plan_position
2016-06-22 01:56:25 +00:00
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
Use ABC indices in delta[]
2016-09-15 06:21:31 +00:00
Initialize stepper counts for Delta/SCARA
2016-04-12 01:25:39 +00:00
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(SDSUPPORT)
Use SdFatUtil::FreeRam() for freeMemory() if there
2014-12-03 13:19:42 +00:00
#include "SdFatUtil.h"
int freeMemory() { return SdFatUtil::FreeRam(); }
#else
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
extern "C" {
Adaptive screen updates for all kinds of displays The target here is to update the screens of graphical and char base displays as fast as possible, without draining the planner buffer too much. For that measure the time it takes to draw and transfer one (partial) screen to the display. Build a max. value from that. Because ther can be large differences, depending on how much the display updates are interrupted, the max value is decreased by one ms/s. This way it can shrink again. On the other side we keep track on how much time it takes to empty the planner buffer. Now we draw the next (partial) display update only then, when we do not drain the planner buffer to much. We draw only when the time in the buffer is two times larger than a update takes, or the buffer is empty anyway. When we have begun to draw a screen we do not wait until the next 100ms time slot comes. We draw the next partial screen as fast as possible, but give the system a chance to refill the buffers a bit. When we see, during drawing a screen, the screen contend has changed, we stop the current draw and begin to draw the new content from the top.
2016-12-12 13:35:02 +00:00
extern char __bss_end;
extern char __heap_start;
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
extern void* __brkval;
int freeMemory() {
int free_memory;
if ((int)__brkval == 0)
free_memory = ((int)&free_memory) - ((int)&__bss_end);
else
free_memory = ((int)&free_memory) - ((int)__brkval);
return free_memory;
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
}
Patch #else / #endif comments
2017-05-09 17:35:43 +00:00
#endif // !SDSUPPORT
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Function decl. in headers don't need "extern"
2016-05-18 01:22:41 +00:00
#if ENABLED(DIGIPOT_I2C)
extern void digipot_i2c_set_current(int channel, float current);
extern void digipot_i2c_init();
#endif
Naming and code comments
2015-04-14 00:17:36 +00:00
/**
Immediate commands take precedence
2017-03-20 02:31:06 +00:00
* Inject the next "immediate" command, when possible, onto the front of the queue.
drain_queued_commands_P now returns true if there are more
2016-03-19 00:37:31 +00:00
* Return true if any immediate commands remain to inject.
Naming and code comments
2015-04-14 00:17:36 +00:00
*/
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
static bool drain_injected_commands_P() {
if (injected_commands_P != NULL) {
drain_queued_commands_P now returns true if there are more
2016-03-19 00:37:31 +00:00
size_t i = 0;
Patch drain_queued_commands_P Fix a SNAFU that should have been caught in #3012
2016-03-20 03:05:23 +00:00
char c, cmd[30];
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
Patch drain_queued_commands_P Fix a SNAFU that should have been caught in #3012
2016-03-20 03:05:23 +00:00
cmd[sizeof(cmd) - 1] = '\0';
while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
cmd[i] = '\0';
Revert behavior of enqueue_and_echo_commands_P
2017-04-02 02:32:36 +00:00
if (enqueue_and_echo_command(cmd)) // success?
Marlin: Slight cleanup to Marlin_main.cpp
2016-10-24 17:03:41 +00:00
injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Immediate commands take precedence
2017-03-20 02:31:06 +00:00
return (injected_commands_P != NULL); // return whether any more remain
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Naming and code comments
2015-04-14 00:17:36 +00:00
/**
* Record one or many commands to run from program memory.
* Aborts the current queue, if any.
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
* Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
Naming and code comments
2015-04-14 00:17:36 +00:00
*/
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
void enqueue_and_echo_commands_P(const char* pgcode) {
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
injected_commands_P = pgcode;
drain_injected_commands_P(); // first command executed asap (when possible)
Few simple fixes that save RAM, as static strings are stored in RAM by default.
2012-11-28 09:30:34 +00:00
}
Immediate commands take precedence
2017-03-20 02:31:06 +00:00
/**
* Clear the Marlin command queue
*/
Also call clear_command_queue for lcd_sdcard_stop
2016-06-01 00:41:32 +00:00
void clear_command_queue() {
cmd_queue_index_r = cmd_queue_index_w;
commands_in_queue = 0;
}
Naming and code comments
2015-04-14 00:17:36 +00:00
/**
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
* Once a new command is in the ring buffer, call this to commit it
Naming and code comments
2015-04-14 00:17:36 +00:00
*/
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
inline void _commit_command(bool say_ok) {
send_ok[cmd_queue_index_w] = say_ok;
Tweak command index increment
2017-05-05 07:57:22 +00:00
if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0;
Naming and code comments
2015-04-14 00:17:36 +00:00
commands_in_queue++;
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
}
/**
Immediate commands take precedence
2017-03-20 02:31:06 +00:00
* Copy a command from RAM into the main command buffer.
* Return true if the command was successfully added.
* Return false for a full buffer, or if the 'command' is a comment.
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
*/
inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
strcpy(command_queue[cmd_queue_index_w], cmd);
_commit_command(say_ok);
Generalized enqueue_commands_P, and moved them to Marlin_main as they should
2015-02-07 22:24:20 +00:00
return true;
}
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
/**
* Enqueue with Serial Echo
*/
bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
if (_enqueuecommand(cmd, say_ok)) {
Prevent a warning on echo_command
2017-04-02 13:36:58 +00:00
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
SERIAL_CHAR('"');
SERIAL_EOL;
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
return true;
}
return false;
}
Naming and code comments
2015-04-14 00:17:36 +00:00
void setup_killpin() {
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_KILL
Use SET_INPUT_PULLUP where appropriate
2017-03-08 05:43:33 +00:00
SET_INPUT_PULLUP(KILL_PIN);
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
#endif
}
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Improve FILAMENT_RUNOUT_SENSOR, FILRUNOUT_PIN
2016-06-20 01:05:57 +00:00
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
void setup_filrunoutpin() {
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
Use SET_INPUT_PULLUP where appropriate
2017-03-08 05:43:33 +00:00
SET_INPUT_PULLUP(FIL_RUNOUT_PIN);
#else
SET_INPUT(FIL_RUNOUT_PIN);
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#endif
Improve FILAMENT_RUNOUT_SENSOR, FILRUNOUT_PIN
2016-06-20 01:05:57 +00:00
}
#endif
Filament Runout Sensor Feature With this change a mechanical or optical switch may be used to check the availability of the filament and when the filament runs out an M600 (filament change) command is issued. This is only done while printing with an SD card. This feature was requested several times (issue #679), but the requests were not accepted since it was believed that this situation should be handled at host side. However during an SD print the control is totally on firmware and I think that during an SD print it should be handled by the firmware. The original code was posted at reprap forum (http://forums.reprap.org/read.php?1,297350) by Lazymonk. I have only corrected some bugs of the code and improved it by adding definitions to the configuration.h in order to make it more standardized.
2015-03-07 20:43:15 +00:00
Naming and code comments
2015-04-14 00:17:36 +00:00
void setup_homepin(void) {
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_HOME
Use SET_INPUT_PULLUP where appropriate
2017-03-08 05:43:33 +00:00
SET_INPUT_PULLUP(HOME_PIN);
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#endif
Merge branch 'SAV-MkI_merge' into Development Tested for SAV MKI and SAV 3D LCD on lewihe.
2014-12-28 18:54:06 +00:00
}
Naming and code comments
2015-04-14 00:17:36 +00:00
void setup_powerhold() {
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_SUICIDE
Some suggested changes for #1555
2015-03-03 08:48:20 +00:00
OUT_WRITE(SUICIDE_PIN, HIGH);
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
#endif
Allow POWER_SUPPLY 0 for no power switch
2015-03-30 23:39:47 +00:00
#if HAS_POWER_SWITCH
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(PS_DEFAULT_OFF)
Some suggested changes for #1555
2015-03-03 08:48:20 +00:00
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#else
Some suggested changes for #1555
2015-03-03 08:48:20 +00:00
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
#endif
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Naming and code comments
2015-04-14 00:17:36 +00:00
void suicide() {
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_SUICIDE
Some suggested changes for #1555
2015-03-03 08:48:20 +00:00
OUT_WRITE(SUICIDE_PIN, LOW);
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
#endif
}
Naming and code comments
2015-04-14 00:17:36 +00:00
void servo_init() {
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if NUM_SERVOS >= 1 && HAS_SERVO_0
Rename servos[] array in Marlin to servo[]
2015-04-14 10:13:25 +00:00
servo[0].attach(SERVO0_PIN);
Add forgotten Marlin_main.cpp
2015-07-24 09:38:15 +00:00
servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if NUM_SERVOS >= 2 && HAS_SERVO_1
Rename servos[] array in Marlin to servo[]
2015-04-14 10:13:25 +00:00
servo[1].attach(SERVO1_PIN);
Add forgotten Marlin_main.cpp
2015-07-24 09:38:15 +00:00
servo[1].detach();
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if NUM_SERVOS >= 3 && HAS_SERVO_2
Rename servos[] array in Marlin to servo[]
2015-04-14 10:13:25 +00:00
servo[2].attach(SERVO2_PIN);
Add forgotten Marlin_main.cpp
2015-07-24 09:38:15 +00:00
servo[2].detach();
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if NUM_SERVOS >= 4 && HAS_SERVO_3
Rename servos[] array in Marlin to servo[]
2015-04-14 10:13:25 +00:00
servo[3].attach(SERVO3_PIN);
Add forgotten Marlin_main.cpp
2015-07-24 09:38:15 +00:00
servo[3].detach();
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
#endif
Added servo actuated enstop coding to allow G28 command to engage and retract a servo to specified angles.
2013-06-06 14:36:52 +00:00
HAS_Z_ENDSTOP_SERVO => HAS_Z_SERVO_ENDSTOP
2016-06-17 01:15:48 +00:00
#if HAS_Z_SERVO_ENDSTOP
Check probes only when deployed Aim: Test probes in update_endstops only when activated Changes: Configurations Add define for FIX_MOUNTED_PROBE to handle the situation where formerly ENDSTOPS_ONLY_FOR_HOMING had to be set, or lowering the nozzle below Z_PROBE_OFFSET_FROM_EXTRUDER could give an "endstop hit" message. Add define for Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN to indicate a common situation, that we have a probe but it is connected to an endstop pin Add some comments Shift some entries to have related things together. Conditionals.h We have a probe (HAS_Z_MIN_PROBE) if one of the pins is defined AND one of the probes is defined. SanityCheck.h Add some tests if the probe is connected and if we have defined a probe. stepper.cpp Changes to test the probe only when it is deployed (z_probe_is_active). Test update_endstops() when the probe is deployed. MarlinMain.cpp a. set and reset z_probe_is_active in deploy_z_probe(), stow_z_probe() and dock_sled() b. set and reset z_probe_is_active in the case a z-servo is moved to a defined position. The only remaining unhandled servo move is in M280 where we do not end in a defined position. If you want to handle a probe use M401/402 c. skip deploying/stowing when already deployed/stowed in the dedicated deploy/stow functions. d. Handle the new FIX_MOUNTED_PROBE in parallel to a servo driven probe/endstop. To do: In another PR. handle all probes in deploy/stow_z_probe. Sort out SERVO_LEVELING vs. HAS_SERVO_ENDSTOPS.
2015-12-03 13:19:29 +00:00
/**
Remove support for XY servo endstops
2016-06-14 03:18:24 +00:00
* Set position of Z Servo Endstop
Check probes only when deployed Aim: Test probes in update_endstops only when activated Changes: Configurations Add define for FIX_MOUNTED_PROBE to handle the situation where formerly ENDSTOPS_ONLY_FOR_HOMING had to be set, or lowering the nozzle below Z_PROBE_OFFSET_FROM_EXTRUDER could give an "endstop hit" message. Add define for Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN to indicate a common situation, that we have a probe but it is connected to an endstop pin Add some comments Shift some entries to have related things together. Conditionals.h We have a probe (HAS_Z_MIN_PROBE) if one of the pins is defined AND one of the probes is defined. SanityCheck.h Add some tests if the probe is connected and if we have defined a probe. stepper.cpp Changes to test the probe only when it is deployed (z_probe_is_active). Test update_endstops() when the probe is deployed. MarlinMain.cpp a. set and reset z_probe_is_active in deploy_z_probe(), stow_z_probe() and dock_sled() b. set and reset z_probe_is_active in the case a z-servo is moved to a defined position. The only remaining unhandled servo move is in M280 where we do not end in a defined position. If you want to handle a probe use M401/402 c. skip deploying/stowing when already deployed/stowed in the dedicated deploy/stow functions. d. Handle the new FIX_MOUNTED_PROBE in parallel to a servo driven probe/endstop. To do: In another PR. handle all probes in deploy/stow_z_probe. Sort out SERVO_LEVELING vs. HAS_SERVO_ENDSTOPS.
2015-12-03 13:19:29 +00:00
*
* The servo might be deployed and positioned too low to stow
* when starting up the machine or rebooting the board.
* There's no way to know where the nozzle is positioned until
* homing has been done - no homing with z-probe without init!
*
*/
Remove support for XY servo endstops
2016-06-14 03:18:24 +00:00
STOW_Z_SERVO();
Always raise Z (if needed) for servo deploy/stow
2016-06-12 22:15:37 +00:00
#endif
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Add STEPPER_RESET_PIN support
2015-07-11 01:15:24 +00:00
/**
* Stepper Reset (RigidBoard, et.al.)
*/
#if HAS_STEPPER_RESET
void disableStepperDrivers() {
Use fastio for literal pins
2016-09-25 10:52:10 +00:00
OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
Add STEPPER_RESET_PIN support
2015-07-11 01:15:24 +00:00
}
Use fastio for literal pins
2016-09-25 10:52:10 +00:00
void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
Add STEPPER_RESET_PIN support
2015-07-11 01:15:24 +00:00
#endif
Add support for i2c slave address
2016-08-11 06:04:18 +00:00
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
Add an i2c request handler
2016-08-12 00:57:22 +00:00
void i2c_on_receive(int bytes) { // just echo all bytes received to serial
i2c.receive(bytes);
}
void i2c_on_request() { // just send dummy data for now
Further refinements of TWIBus
2016-08-14 01:06:10 +00:00
i2c.reply("Hello World!\n");
Add support for i2c slave address
2016-08-11 06:04:18 +00:00
}
#endif
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#if HAS_COLOR_LEDS
Add support for an RGBW LED
2017-04-11 17:58:55 +00:00
void set_led_color(
const uint8_t r, const uint8_t g, const uint8_t b
#if ENABLED(RGBW_LED)
, const uint8_t w=0
#endif
) {
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#if ENABLED(BLINKM)
// This variant uses i2c to send the RGB components to the device.
SendColors(r, g, b);
#else
// This variant uses 3 separate pins for the RGB components.
// If the pins can do PWM then their intensity will be set.
Use direct pin manipulation whenever possible
2017-04-14 21:36:12 +00:00
WRITE(RGB_LED_R_PIN, r ? HIGH : LOW);
WRITE(RGB_LED_G_PIN, g ? HIGH : LOW);
WRITE(RGB_LED_B_PIN, b ? HIGH : LOW);
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
analogWrite(RGB_LED_R_PIN, r);
analogWrite(RGB_LED_G_PIN, g);
analogWrite(RGB_LED_B_PIN, b);
Add support for an RGBW LED
2017-04-11 17:58:55 +00:00
#if ENABLED(RGBW_LED)
Use direct pin manipulation whenever possible
2017-04-14 21:36:12 +00:00
WRITE(RGB_LED_W_PIN, w ? HIGH : LOW);
Add support for an RGBW LED
2017-04-11 17:58:55 +00:00
analogWrite(RGB_LED_W_PIN, w);
#endif
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#endif
}
#endif // HAS_COLOR_LEDS
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
void gcode_line_error(const char* err, bool doFlush = true) {
Add gcode_line_error to reduce code size
2015-05-17 03:54:58 +00:00
SERIAL_ERROR_START;
serialprintPGM(err);
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
if (doFlush) FlushSerialRequestResend();
serial_count = 0;
}
Immediate commands take precedence
2017-03-20 02:31:06 +00:00
/**
* Get all commands waiting on the serial port and queue them.
* Exit when the buffer is full or when no more characters are
* left on the serial port.
*/
Split get_command into units, rename to get_available_commands
2016-03-28 12:25:27 +00:00
inline void get_serial_commands() {
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
static char serial_line_buffer[MAX_CMD_SIZE];
Replace all remaining 'boolean' with 'bool'
2017-01-13 12:03:52 +00:00
static bool serial_comment_mode = false;
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
Split get_command into units, rename to get_available_commands
2016-03-28 12:25:27 +00:00
// If the command buffer is empty for too long,
// send "wait" to indicate Marlin is still waiting.
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
#if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
make 'wait' optional and mark as workaround
2015-04-16 19:42:54 +00:00
static millis_t last_command_time = 0;
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
const millis_t ms = millis();
Test time difference in safe way
2016-04-10 22:55:12 +00:00
if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
make 'wait' optional and mark as workaround
2015-04-16 19:42:54 +00:00
SERIAL_ECHOLNPGM(MSG_WAIT);
last_command_time = ms;
}
#endif
Hide M117 with no LCD
2015-05-17 03:59:04 +00:00
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
* Loop while serial characters are incoming and the queue is not full
*/
Hide M117 with no LCD
2015-05-17 03:59:04 +00:00
while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
char serial_char = MYSERIAL.read();
Naming and code comments
2015-04-14 00:17:36 +00:00
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
* If the character ends the line
*/
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
if (serial_char == '\n' || serial_char == '\r') {
Hide M117 with no LCD
2015-05-17 03:59:04 +00:00
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
serial_comment_mode = false; // end of line == end of comment
Fixed in-line comments and escaping * "G1 X1 ; test" was not executing "G1 X1" due to never leaving comment mode. * "M117 Hello \;)" printed "Hello \" to the display due to not replacing serial_char properly. Tested with the following commands: * M117 Hello ; test => displays "Hello" on display, ignores "test" * G1 X1 ; foo => moves 1mm in X, ignores "foo" * ; test => completely ignored, not even acknowledged * M117 Hello \;) => displays "Hello ;)" on display * M117 Hello \\;) => displays "Hello \" on display, ignores ")"
2015-03-05 22:30:34 +00:00
Continue on empty lines instead of returning
2016-03-28 11:42:51 +00:00
if (!serial_count) continue; // skip empty lines
Apply three more commits
2015-04-13 01:07:08 +00:00
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
serial_line_buffer[serial_count] = 0; // terminate string
serial_count = 0; //reset buffer
Apply three more commits
2015-04-13 01:07:08 +00:00
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
char* command = serial_line_buffer;
Apply three more commits
2015-04-13 01:07:08 +00:00
Only look for "N" line number as first parameter
2015-10-13 10:58:11 +00:00
while (*command == ' ') command++; // skip any leading spaces
char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
char* apos = strchr(command, '*');
Further optimization of command parser
2015-05-17 12:00:09 +00:00
if (npos) {
Allow M110 to handle a second N argument
2015-06-24 00:50:09 +00:00
Replace all remaining 'boolean' with 'bool'
2017-01-13 12:03:52 +00:00
bool M110 = strstr_P(command, PSTR("M110")) != NULL;
Allow M110 to handle a second N argument
2015-06-24 00:50:09 +00:00
if (M110) {
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
char* n2pos = strchr(command + 4, 'N');
Allow M110 to handle a second N argument
2015-06-24 00:50:09 +00:00
if (n2pos) npos = n2pos;
}
Further optimization of command parser
2015-05-17 12:00:09 +00:00
gcode_N = strtol(npos + 1, NULL, 10);
Allow M110 to handle a second N argument
2015-06-24 00:50:09 +00:00
Put the mandatory test of gcode_N first
2015-06-24 00:57:38 +00:00
if (gcode_N != gcode_LastN + 1 && !M110) {
Add gcode_line_error to reduce code size
2015-05-17 03:54:58 +00:00
gcode_line_error(PSTR(MSG_ERR_LINE_NO));
Fixed in-line comments and escaping * "G1 X1 ; test" was not executing "G1 X1" due to never leaving comment mode. * "M117 Hello \;)" printed "Hello \" to the display due to not replacing serial_char properly. Tested with the following commands: * M117 Hello ; test => displays "Hello" on display, ignores "test" * G1 X1 ; foo => moves 1mm in X, ignores "foo" * ; test => completely ignored, not even acknowledged * M117 Hello \;) => displays "Hello ;)" on display * M117 Hello \\;) => displays "Hello \" on display, ignores ")"
2015-03-05 22:30:34 +00:00
return;
}
Further optimization of command parser
2015-05-17 12:00:09 +00:00
if (apos) {
byte checksum = 0, count = 0;
Naming and code comments
2015-04-14 00:17:36 +00:00
while (command[count] != '*') checksum ^= command[count++];
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Further optimization of command parser
2015-05-17 12:00:09 +00:00
if (strtol(apos + 1, NULL, 10) != checksum) {
Add gcode_line_error to reduce code size
2015-05-17 03:54:58 +00:00
gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
return;
}
Add gcode_line_error to reduce code size
2015-05-17 03:54:58 +00:00
// if no errors, continue parsing
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Drop obsolete test for leading "N"
2016-03-08 10:25:11 +00:00
else {
Add gcode_line_error to reduce code size
2015-05-17 03:54:58 +00:00
gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
Fixed in-line comments and escaping * "G1 X1 ; test" was not executing "G1 X1" due to never leaving comment mode. * "M117 Hello \;)" printed "Hello \" to the display due to not replacing serial_char properly. Tested with the following commands: * M117 Hello ; test => displays "Hello" on display, ignores "test" * G1 X1 ; foo => moves 1mm in X, ignores "foo" * ; test => completely ignored, not even acknowledged * M117 Hello \;) => displays "Hello ;)" on display * M117 Hello \\;) => displays "Hello \" on display, ignores ")"
2015-03-05 22:30:34 +00:00
return;
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Fixed in-line comments and escaping * "G1 X1 ; test" was not executing "G1 X1" due to never leaving comment mode. * "M117 Hello \;)" printed "Hello \" to the display due to not replacing serial_char properly. Tested with the following commands: * M117 Hello ; test => displays "Hello" on display, ignores "test" * G1 X1 ; foo => moves 1mm in X, ignores "foo" * ; test => completely ignored, not even acknowledged * M117 Hello \;) => displays "Hello ;)" on display * M117 Hello \\;) => displays "Hello \" on display, ignores ")"
2015-03-05 22:30:34 +00:00
gcode_LastN = gcode_N;
Add gcode_line_error to reduce code size
2015-05-17 03:54:58 +00:00
// if no errors, continue parsing
Fixed in-line comments and escaping * "G1 X1 ; test" was not executing "G1 X1" due to never leaving comment mode. * "M117 Hello \;)" printed "Hello \" to the display due to not replacing serial_char properly. Tested with the following commands: * M117 Hello ; test => displays "Hello" on display, ignores "test" * G1 X1 ; foo => moves 1mm in X, ignores "foo" * ; test => completely ignored, not even acknowledged * M117 Hello \;) => displays "Hello ;)" on display * M117 Hello \\;) => displays "Hello \" on display, ignores ")"
2015-03-05 22:30:34 +00:00
}
Further optimization of command parser
2015-05-17 12:00:09 +00:00
else if (apos) { // No '*' without 'N'
gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
return;
Fixed in-line comments and escaping * "G1 X1 ; test" was not executing "G1 X1" due to never leaving comment mode. * "M117 Hello \;)" printed "Hello \" to the display due to not replacing serial_char properly. Tested with the following commands: * M117 Hello ; test => displays "Hello" on display, ignores "test" * G1 X1 ; foo => moves 1mm in X, ignores "foo" * ; test => completely ignored, not even acknowledged * M117 Hello \;) => displays "Hello ;)" on display * M117 Hello \\;) => displays "Hello \" on display, ignores ")"
2015-03-05 22:30:34 +00:00
}
Apply three more commits
2015-04-13 01:07:08 +00:00
Further optimization of command parser
2015-05-17 12:00:09 +00:00
// Movement commands alert when stopped
if (IsStopped()) {
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
char* gpos = strchr(command, 'G');
Further optimization of command parser
2015-05-17 12:00:09 +00:00
if (gpos) {
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
const int codenum = strtol(gpos + 1, NULL, 10);
Further optimization of command parser
2015-05-17 12:00:09 +00:00
switch (codenum) {
case 0:
case 1:
case 2:
case 3:
Apply three more commits
2015-04-13 01:07:08 +00:00
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
Further optimization of command parser
2015-05-17 12:00:09 +00:00
break;
}
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
}
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Fixed in-line comments and escaping * "G1 X1 ; test" was not executing "G1 X1" due to never leaving comment mode. * "M117 Hello \;)" printed "Hello \" to the display due to not replacing serial_char properly. Tested with the following commands: * M117 Hello ; test => displays "Hello" on display, ignores "test" * G1 X1 ; foo => moves 1mm in X, ignores "foo" * ; test => completely ignored, not even acknowledged * M117 Hello \;) => displays "Hello ;)" on display * M117 Hello \\;) => displays "Hello \" on display, ignores ")"
2015-03-05 22:30:34 +00:00
Add an emergency-command parser to MarlinSerial (supporting M108) Add an emergency-command parser to MarlinSerial's RX interrupt. The parser tries to find and execute M108,M112,M410 before the commands disappear in the RX-buffer. To avoid false positives for M117, comments and commands followed by filenames (M23, M28, M30, M32, M33) are filtered. This enables Marlin to receive and react on the Emergency command at all times - regardless of whether the buffers are full or not. It remains to convince hosts to send the commands. To inform the hosts about the new feature a new entry in the M115-report was made. "`EMERGENCY_CODES:M112,M108,M410;`". The parser is fast. It only ever needs two switch decisions and one assignment of the new state for every character. One problem remains. If the host has sent an incomplete line before sending an emergency command the emergency command could be omitted when the parser is in `state_IGNORE`. In that case the host should send "\ncommand\n" Also introduces M108 to break the waiting for the heaters in M109, M190 and M303. Rename `cancel_heatup` to `wait_for_heatup` to better see the purpose.
2016-07-04 21:23:22 +00:00
#if DISABLED(EMERGENCY_PARSER)
// If command was e-stop process now
Centralize click-handling in the LCD loop
2016-10-26 06:42:52 +00:00
if (strcmp(command, "M108") == 0) {
wait_for_heatup = false;
#if ENABLED(ULTIPANEL)
wait_for_user = false;
#endif
}
Add an emergency-command parser to MarlinSerial (supporting M108) Add an emergency-command parser to MarlinSerial's RX interrupt. The parser tries to find and execute M108,M112,M410 before the commands disappear in the RX-buffer. To avoid false positives for M117, comments and commands followed by filenames (M23, M28, M30, M32, M33) are filtered. This enables Marlin to receive and react on the Emergency command at all times - regardless of whether the buffers are full or not. It remains to convince hosts to send the commands. To inform the hosts about the new feature a new entry in the M115-report was made. "`EMERGENCY_CODES:M112,M108,M410;`". The parser is fast. It only ever needs two switch decisions and one assignment of the new state for every character. One problem remains. If the host has sent an incomplete line before sending an emergency command the emergency command could be omitted when the parser is in `state_IGNORE`. In that case the host should send "\ncommand\n" Also introduces M108 to break the waiting for the heaters in M109, M190 and M303. Rename `cancel_heatup` to `wait_for_heatup` to better see the purpose.
2016-07-04 21:23:22 +00:00
if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
Add quickstop_stepper to update current position with stepper.quick_stop()
2016-07-06 19:00:28 +00:00
if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
Add an emergency-command parser to MarlinSerial (supporting M108) Add an emergency-command parser to MarlinSerial's RX interrupt. The parser tries to find and execute M108,M112,M410 before the commands disappear in the RX-buffer. To avoid false positives for M117, comments and commands followed by filenames (M23, M28, M30, M32, M33) are filtered. This enables Marlin to receive and react on the Emergency command at all times - regardless of whether the buffers are full or not. It remains to convince hosts to send the commands. To inform the hosts about the new feature a new entry in the M115-report was made. "`EMERGENCY_CODES:M112,M108,M410;`". The parser is fast. It only ever needs two switch decisions and one assignment of the new state for every character. One problem remains. If the host has sent an incomplete line before sending an emergency command the emergency command could be omitted when the parser is in `state_IGNORE`. In that case the host should send "\ncommand\n" Also introduces M108 to break the waiting for the heaters in M109, M190 and M303. Rename `cancel_heatup` to `wait_for_heatup` to better see the purpose.
2016-07-04 21:23:22 +00:00
#endif
Fixed in-line comments and escaping * "G1 X1 ; test" was not executing "G1 X1" due to never leaving comment mode. * "M117 Hello \;)" printed "Hello \" to the display due to not replacing serial_char properly. Tested with the following commands: * M117 Hello ; test => displays "Hello" on display, ignores "test" * G1 X1 ; foo => moves 1mm in X, ignores "foo" * ; test => completely ignored, not even acknowledged * M117 Hello \;) => displays "Hello ;)" on display * M117 Hello \\;) => displays "Hello \" on display, ignores ")"
2015-03-05 22:30:34 +00:00
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
#if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
last_command_time = ms;
#endif
Fixed in-line comments and escaping * "G1 X1 ; test" was not executing "G1 X1" due to never leaving comment mode. * "M117 Hello \;)" printed "Hello \" to the display due to not replacing serial_char properly. Tested with the following commands: * M117 Hello ; test => displays "Hello" on display, ignores "test" * G1 X1 ; foo => moves 1mm in X, ignores "foo" * ; test => completely ignored, not even acknowledged * M117 Hello \;) => displays "Hello ;)" on display * M117 Hello \\;) => displays "Hello \" on display, ignores ")"
2015-03-05 22:30:34 +00:00
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
// Add the command to the queue
_enqueuecommand(serial_line_buffer, true);
}
else if (serial_count >= MAX_CMD_SIZE - 1) {
// Keep fetching, but ignore normal characters beyond the max length
// The command will be injected when EOL is reached
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Apply three more commits
2015-04-13 01:07:08 +00:00
else if (serial_char == '\\') { // Handle escapes
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
if (MYSERIAL.available() > 0) {
Apply three more commits
2015-04-13 01:07:08 +00:00
// if we have one more character, copy it over
serial_char = MYSERIAL.read();
Don't store escaped serial characters if comment_mode
2016-03-28 11:36:14 +00:00
if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
Apply three more commits
2015-04-13 01:07:08 +00:00
}
// otherwise do nothing
Attempt to resolve #1568 and add basic escape character support
2015-03-05 20:22:37 +00:00
}
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
else { // it's not a newline, carriage return or escape char
if (serial_char == ';') serial_comment_mode = true;
if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
} // queue has space, serial has data
Split get_command into units, rename to get_available_commands
2016-03-28 12:25:27 +00:00
}
Incorporate PS_DEFAULT_OFF for starting state on LCD menu entry
2013-12-08 20:35:57 +00:00
Split get_command into units, rename to get_available_commands
2016-03-28 12:25:27 +00:00
#if ENABLED(SDSUPPORT)
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Immediate commands take precedence
2017-03-20 02:31:06 +00:00
/**
* Get commands from the SD Card until the command buffer is full
* or until the end of the file is reached. The special character '#'
* can also interrupt buffering.
*/
Split get_command into units, rename to get_available_commands
2016-03-28 12:25:27 +00:00
inline void get_sdcard_commands() {
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
static bool stop_buffering = false,
sd_comment_mode = false;
if (!card.sdprinting) return;
Apply three more commits
2015-04-13 01:07:08 +00:00
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
* '#' stops reading from SD to the buffer prematurely, so procedural
* macro calls are possible. If it occurs, stop_buffering is triggered
* and the buffer is run dry; this character _can_ occur in serial com
* due to checksums, however, no checksums are used in SD printing.
*/
Apply three more commits
2015-04-13 01:07:08 +00:00
Naming and code comments
2015-04-14 00:17:36 +00:00
if (commands_in_queue == 0) stop_buffering = false;
Apply three more commits
2015-04-13 01:07:08 +00:00
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
uint16_t sd_count = 0;
bool card_eof = card.eof();
while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
Immediate commands take precedence
2017-03-20 02:31:06 +00:00
const int16_t n = card.get();
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
char sd_char = (char)n;
card_eof = card.eof();
if (card_eof || n == -1
|| sd_char == '\n' || sd_char == '\r'
|| ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
Apply three more commits
2015-04-13 01:07:08 +00:00
) {
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
if (card_eof) {
Apply three more commits
2015-04-13 01:07:08 +00:00
SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
card.printingHasFinished();
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#if ENABLED(PRINTER_EVENT_LEDS)
LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS);
Add support for an RGBW LED
2017-04-11 17:58:55 +00:00
set_led_color(0, 255, 0); // Green
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#if HAS_RESUME_CONTINUE
SDCard print completion can use "M0"
2017-05-04 03:14:40 +00:00
enqueue_and_echo_commands_P(PSTR("M0")); // end of the queue!
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#else
safe_delay(1000);
#endif
Add support for an RGBW LED
2017-04-11 17:58:55 +00:00
set_led_color(0, 0, 0); // OFF
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#endif
Apply three more commits
2015-04-13 01:07:08 +00:00
card.checkautostart(true);
}
Output a message for SD read errors
2016-06-20 00:14:56 +00:00
else if (n == -1) {
SERIAL_ERROR_START;
SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
}
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
if (sd_char == '#') stop_buffering = true;
Incorporate PS_DEFAULT_OFF for starting state on LCD menu entry
2013-12-08 20:35:57 +00:00
Immediate commands take precedence
2017-03-20 02:31:06 +00:00
sd_comment_mode = false; // for new command
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
Immediate commands take precedence
2017-03-20 02:31:06 +00:00
if (!sd_count) continue; // skip empty lines (and comment lines)
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
Immediate commands take precedence
2017-03-20 02:31:06 +00:00
command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
sd_count = 0; // clear sd line buffer
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
_commit_command(false);
}
else if (sd_count >= MAX_CMD_SIZE - 1) {
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
* Keep fetching, but ignore normal characters beyond the max length
* The command will be injected when EOL is reached
*/
Apply three more commits
2015-04-13 01:07:08 +00:00
}
else {
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
if (sd_char == ';') sd_comment_mode = true;
if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
Apply three more commits
2015-04-13 01:07:08 +00:00
}
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Split get_command into units, rename to get_available_commands
2016-03-28 12:25:27 +00:00
}
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Split get_command into units, rename to get_available_commands
2016-03-28 12:25:27 +00:00
#endif // SDSUPPORT
/**
* Add to the circular command queue the next command from:
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
* - The command-injection queue (injected_commands_P)
Split get_command into units, rename to get_available_commands
2016-03-28 12:25:27 +00:00
* - The active serial input (usually USB)
* - The SD card file being actively printed
*/
void get_available_commands() {
// if any immediate commands remain, don't get other commands yet
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
if (drain_injected_commands_P()) return;
Split get_command into units, rename to get_available_commands
2016-03-28 12:25:27 +00:00
get_serial_commands();
#if ENABLED(SDSUPPORT)
get_sdcard_commands();
#endif
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Smaller binary using inline gcode argument getters
2016-06-09 00:03:28 +00:00
inline bool code_has_value() {
Improve code_has_value test
2015-04-25 03:43:16 +00:00
int i = 1;
Further optimization of command parser
2015-05-17 12:00:09 +00:00
char c = seen_pointer[i];
Allow spaces after a code letter
2016-02-10 02:03:13 +00:00
while (c == ' ') c = seen_pointer[++i];
Further optimization of command parser
2015-05-17 12:00:09 +00:00
if (c == '-' || c == '+') c = seen_pointer[++i];
if (c == '.') c = seen_pointer[++i];
Add NUMERIC compare macros to simplify code
2016-03-28 10:52:49 +00:00
return NUMERIC(c);
Homing fixes - Prevent `Z_SAFE_HOMING` from homing Z twice in some cases - Allow `G28` with XYZ values of 0 to explicitly set the position - Don’t add `home_offset` when setting XYZ explicitly in `G28` - Add `code_has_value` function to check for the presence of a numeric value (could just test for space or nul to allow other types of values)
2015-04-12 03:06:48 +00:00
}
Smaller binary using inline gcode argument getters
2016-06-09 00:03:28 +00:00
inline float code_value_float() {
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
char* e = strchr(seen_pointer, 'E');
code_value_float tweak
2017-01-04 00:05:14 +00:00
if (!e) return strtod(seen_pointer + 1, NULL);
*e = 0;
float ret = strtod(seen_pointer + 1, NULL);
*e = 'E';
Fix compiler warnings - Patched up for most included configurations
2015-03-28 03:29:05 +00:00
return ret;
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Smaller binary using inline gcode argument getters
2016-06-09 00:03:28 +00:00
inline unsigned long code_value_ulong() { return strtoul(seen_pointer + 1, NULL, 10); }
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
Smaller binary using inline gcode argument getters
2016-06-09 00:03:28 +00:00
inline long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
Smaller binary using inline gcode argument getters
2016-06-09 00:03:28 +00:00
inline int code_value_int() { return (int)strtol(seen_pointer + 1, NULL, 10); }
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
Smaller binary using inline gcode argument getters
2016-06-09 00:03:28 +00:00
inline uint16_t code_value_ushort() { return (uint16_t)strtoul(seen_pointer + 1, NULL, 10); }
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
Smaller binary using inline gcode argument getters
2016-06-09 00:03:28 +00:00
inline uint8_t code_value_byte() { return (uint8_t)(constrain(strtol(seen_pointer + 1, NULL, 10), 0, 255)); }
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
Standardize code_value_bool
2016-09-15 08:09:42 +00:00
inline bool code_value_bool() { return !code_has_value() || code_value_byte() > 0; }
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
#if ENABLED(INCH_MODE_SUPPORT)
Smaller binary using inline gcode argument getters
2016-06-09 00:03:28 +00:00
inline void set_input_linear_units(LinearUnit units) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
switch (units) {
case LINEARUNIT_INCH:
linear_unit_factor = 25.4;
break;
case LINEARUNIT_MM:
default:
linear_unit_factor = 1.0;
break;
}
volumetric_unit_factor = pow(linear_unit_factor, 3.0);
}
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
inline float axis_unit_factor(const AxisEnum axis) {
Support for distinct E factors
2016-12-04 04:02:27 +00:00
return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
}
Smaller binary using inline gcode argument getters
2016-06-09 00:03:28 +00:00
inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
inline float code_value_axis_units(const AxisEnum axis) { return code_value_float() * axis_unit_factor(axis); }
inline float code_value_per_axis_unit(const AxisEnum axis) { return code_value_float() / axis_unit_factor(axis); }
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
#endif
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
Smaller binary using inline gcode argument getters
2016-06-09 00:03:28 +00:00
inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
Non-blocking buzzer
2016-06-04 19:29:01 +00:00
Patch configuration temp units
2017-05-08 02:32:01 +00:00
float to_temp_units(const float &c) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
switch (input_temp_units) {
case TEMPUNIT_F:
Patch configuration temp units
2017-05-08 02:32:01 +00:00
return c * 0.5555555556 + 32.0;
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
case TEMPUNIT_K:
Patch configuration temp units
2017-05-08 02:32:01 +00:00
return c + 273.15;
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
case TEMPUNIT_C:
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
default:
Support temperature units in M503
2017-05-07 00:41:50 +00:00
return c;
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
}
}
Patch configuration temp units
2017-05-08 02:32:01 +00:00
int16_t code_value_temp_abs() {
const float c = code_value_float();
switch (input_temp_units) {
case TEMPUNIT_F:
return (int16_t)((c - 32.0) * 0.5555555556);
case TEMPUNIT_K:
return (int16_t)(c - 273.15);
case TEMPUNIT_C:
default:
return (int16_t)(c);
}
}
Support temperature units in M503
2017-05-07 00:41:50 +00:00
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
int16_t code_value_temp_diff() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
switch (input_temp_units) {
case TEMPUNIT_F:
Replace some float division with multiplication
2016-07-24 18:50:54 +00:00
return code_value_float() * 0.5555555556;
Support temperature units in M503
2017-05-07 00:41:50 +00:00
case TEMPUNIT_C:
case TEMPUNIT_K:
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
default:
return code_value_float();
}
}
#else
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
int16_t code_value_temp_abs() { return code_value_int(); }
int16_t code_value_temp_diff() { return code_value_int(); }
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
#endif
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
FORCE_INLINE millis_t code_value_millis() { return code_value_ulong(); }
Smaller binary using inline gcode argument getters
2016-06-09 00:03:28 +00:00
inline millis_t code_value_millis_from_seconds() { return code_value_float() * 1000; }
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Fix compiler warnings - Patched up for most included configurations
2015-03-28 03:29:05 +00:00
bool code_seen(char code) {
Fixup comments in code_seen
2015-07-07 06:09:14 +00:00
seen_pointer = strchr(current_command_args, code);
return (seen_pointer != NULL); // Return TRUE if the code-letter was found
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Allow POWER_SUPPLY 0 for no power switch
2015-03-30 23:39:47 +00:00
setTargetedHotend => get_target_extruder_from_command
2016-04-18 07:01:28 +00:00
/**
* Set target_extruder from the T parameter or the active_extruder
*
* Returns TRUE if the target is invalid
*/
bool get_target_extruder_from_command(int code) {
if (code_seen('T')) {
Reduce code size by trusting the compiler
2016-07-09 23:25:48 +00:00
if (code_value_byte() >= EXTRUDERS) {
setTargetedHotend => get_target_extruder_from_command
2016-04-18 07:01:28 +00:00
SERIAL_ECHO_START;
SERIAL_CHAR('M');
SERIAL_ECHO(code);
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", code_value_byte());
setTargetedHotend => get_target_extruder_from_command
2016-04-18 07:01:28 +00:00
return true;
}
Reduce code size by trusting the compiler
2016-07-09 23:25:48 +00:00
target_extruder = code_value_byte();
setTargetedHotend => get_target_extruder_from_command
2016-04-18 07:01:28 +00:00
}
else
target_extruder = active_extruder;
return false;
}
Implement DUAL_NOZZLE_DUPLICATION_MODE
2016-07-20 17:30:10 +00:00
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
bool extruder_duplication_enabled = false; // Used in Dual X mode 2
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
separate INVERTING for MIN and MAX endstops (6 #defines instead of 3)
2013-08-01 13:06:39 +00:00
Make dual_x_carriage_mode an enumeration
2016-11-03 02:37:46 +00:00
static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
Remove invariant code from Configurations - Add `Conditionals.h` with calculated configuration values - Add `SanityCheck.h` with checks for configuration errors - Remove equivalent code from all configurations - Move error checks from some sources to `SanityCheck.h` also - Fix initialization of count_direction in stepper.cpp
2015-03-20 05:22:23 +00:00
Use const arguments in Dual X helper functions
2016-11-07 06:20:59 +00:00
static float x_home_pos(const int extruder) {
Remove invariant code from Configurations - Add `Conditionals.h` with calculated configuration values - Add `SanityCheck.h` with checks for configuration errors - Remove equivalent code from all configurations - Move error checks from some sources to `SanityCheck.h` also - Fix initialization of count_direction in stepper.cpp
2015-03-20 05:22:23 +00:00
if (extruder == 0)
Make POSITION macros global
2016-07-24 23:34:01 +00:00
return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
Remove invariant code from Configurations - Add `Conditionals.h` with calculated configuration values - Add `SanityCheck.h` with checks for configuration errors - Remove equivalent code from all configurations - Move error checks from some sources to `SanityCheck.h` also - Fix initialization of count_direction in stepper.cpp
2015-03-20 05:22:23 +00:00
else
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
* In dual carriage mode the extruder offset provides an override of the
Apply LOGICAL_POSITION to home positions on Dual X
2016-11-07 06:20:19 +00:00
* second X-carriage position when homed - otherwise X2_HOME_POS is used.
* This allows soft recalibration of the second extruder home position
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
* without firmware reflash (through the M218 command).
*/
Apply LOGICAL_POSITION to home positions on Dual X
2016-11-07 06:20:19 +00:00
return LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS);
Remove invariant code from Configurations - Add `Conditionals.h` with calculated configuration values - Add `SanityCheck.h` with checks for configuration errors - Remove equivalent code from all configurations - Move error checks from some sources to `SanityCheck.h` also - Fix initialization of count_direction in stepper.cpp
2015-03-20 05:22:23 +00:00
}
Use const arguments in Dual X helper functions
2016-11-07 06:20:59 +00:00
static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
Remove invariant code from Configurations - Add `Conditionals.h` with calculated configuration values - Add `SanityCheck.h` with checks for configuration errors - Remove equivalent code from all configurations - Move error checks from some sources to `SanityCheck.h` also - Fix initialization of count_direction in stepper.cpp
2015-03-20 05:22:23 +00:00
static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
Tweak Dual X Carriage data spacing
2016-07-24 23:34:31 +00:00
static bool active_extruder_parked = false; // used in mode 1 & 2
Use XYZE rather than NUM_AXIS
2017-03-18 02:14:05 +00:00
static float raised_parked_position[XYZE]; // used in mode 1
Tweak Dual X Carriage data spacing
2016-07-24 23:34:31 +00:00
static millis_t delayed_move_time = 0; // used in mode 1
Remove invariant code from Configurations - Add `Conditionals.h` with calculated configuration values - Add `SanityCheck.h` with checks for configuration errors - Remove equivalent code from all configurations - Move error checks from some sources to `SanityCheck.h` also - Fix initialization of count_direction in stepper.cpp
2015-03-20 05:22:23 +00:00
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
static int16_t duplicate_extruder_temp_offset = 0; // used in mode 2
Support dual x-carriage printers Dual x-carriage designs offer some substantial improvements for dual extruder printing.
2013-07-17 12:44:45 +00:00
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
#endif // DUAL_X_CARRIAGE
Support dual x-carriage printers Dual x-carriage designs offer some substantial improvements for dual extruder printing.
2013-07-17 12:44:45 +00:00
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
Fix bad movement in gcode_T when switching
2016-05-23 21:46:29 +00:00
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
/**
* Software endstops can be used to monitor the open end of
* an axis that has a hardware endstop on the other end. Or
* they can prevent axes from moving past endstops and grinding.
*
* To keep doing their job as the coordinate system changes,
* the software endstop positions must be refreshed to remain
* at the same positions relative to the machine.
*/
void update_software_endstops(const AxisEnum axis) {
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
const float offs = 0.0
#if HAS_HOME_OFFSET
+ home_offset[axis]
#endif
#if HAS_POSITION_SHIFT
+ position_shift[axis]
#endif
;
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
workspace_offset[axis] = offs;
#endif
Fix Dual X software endstops
2016-12-03 06:27:10 +00:00
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
Fix Dual X software endstops
2016-12-03 06:27:10 +00:00
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
// In Dual X mode hotend_offset[X] is T1's home position
float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
if (active_extruder != 0) {
// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
soft_endstop_max[X_AXIS] = dual_max_x + offs;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
// In Duplication Mode, T0 can move as far left as X_MIN_POS
// but not so far to the right that T1 would move past the end
soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
}
else {
// In other modes, T0 can move from X_MIN_POS to X_MAX_POS
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;
}
Update software endstop positions with M206, M428, G92, etc.
2016-03-24 10:55:18 +00:00
}
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
#else
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;
#endif
DELTA: Move out of the clip-zone after G28 Move down to a safe height after G28 for DELTAs.
2016-07-15 13:20:54 +00:00
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("For ", axis_codes[axis]);
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_HOME_OFFSET
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#endif
#if HAS_POSITION_SHIFT
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
#endif
SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
}
#endif
DELTA: Move out of the clip-zone after G28 Move down to a safe height after G28 for DELTAs.
2016-07-15 13:20:54 +00:00
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
#if ENABLED(DELTA)
if (axis == Z_AXIS)
delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
#endif
}
DELTA: Move out of the clip-zone after G28 Move down to a safe height after G28 for DELTAs.
2016-07-15 13:20:54 +00:00
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE
Update software endstop positions with M206, M428, G92, etc.
2016-03-24 10:55:18 +00:00
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_M206_COMMAND
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
/**
* Change the home offset for an axis, update the current
* position and the software endstops to retain the same
* relative distance to the new home.
*
* Since this changes the current_position, code should
* call sync_plan_position soon after this.
*/
Optimize coordinate transformation Pre-compute the combined position shift and home offset to save a single float fetch-and-add per conversion. Great for delta/scara and bed leveling.
2017-03-05 01:18:11 +00:00
static void set_home_offset(const AxisEnum axis, const float v) {
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
current_position[axis] += v - home_offset[axis];
home_offset[axis] = v;
update_software_endstops(axis);
}
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#endif // HAS_M206_COMMAND
Update software endstop positions with M206, M428, G92, etc.
2016-03-24 10:55:18 +00:00
Document set_axis_is_at_home
2016-09-15 07:47:32 +00:00
/**
* Set an axis' current position to its home position (after homing).
*
* For Core and Cartesian robots this applies one-to-one when an
* individual axis has been homed.
*
* DELTA should wait until all homing is done before setting the XYZ
* current_position to home, because homing is a single operation.
* In the case where the axis positions are already known and previously
* homed, DELTA could home to X or Y individually by moving either one
* to the center. However, homing Z always homes XY and Z.
*
* SCARA should wait until all XY homing is done before setting the XY
* current_position to home, because neither X nor Y is at home until
* both are at home. Z can however be homed individually.
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
*
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
* Callers must sync the planner position after calling this!
Document set_axis_is_at_home
2016-09-15 07:47:32 +00:00
*/
Rename axis_is_at_home() to set_axis_is_at_home() (PR#2464) to make clear - it's not a question but an order.
2015-07-18 14:05:43 +00:00
static void set_axis_is_at_home(AxisEnum axis) {
Add more leveling-debug output
2016-04-06 01:30:53 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
Augment debug/homing logging
2016-08-19 06:09:03 +00:00
SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
SERIAL_CHAR(')');
SERIAL_EOL;
Add more leveling-debug output
2016-04-06 01:30:53 +00:00
}
#endif
Fix compiler warnings - Patched up for most included configurations
2015-03-28 03:29:05 +00:00
Update sw endstops in set_axis_is_at_home
2016-09-15 08:10:33 +00:00
axis_known_position[axis] = axis_homed[axis] = true;
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_POSITION_SHIFT
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
position_shift[axis] = 0;
update_software_endstops(axis);
#endif
Update software endstop positions with M206, M428, G92, etc.
2016-03-24 10:55:18 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
Dual X set_axis_is_at_home can use x_home_pos for both
2016-11-07 06:23:39 +00:00
if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
current_position[X_AXIS] = x_home_pos(active_extruder);
Update software endstop positions with M206, M428, G92, etc.
2016-03-24 10:55:18 +00:00
return;
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
}
Fix compiler warnings - Patched up for most included configurations
2015-03-28 03:29:05 +00:00
#endif
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
#if ENABLED(MORGAN_SCARA)
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
/**
* Morgan SCARA homes XY at the same time
*/
Fixup axis_is_at_home a little
2015-04-24 01:16:44 +00:00
if (axis == X_AXIS || axis == Y_AXIS) {
Fix compiler warnings - Patched up for most included configurations
2015-03-28 03:29:05 +00:00
Use ABC and XYZ for "3"
2016-08-21 03:38:32 +00:00
float homeposition[XYZ];
Cast int to AxisEnum for some accessors
2016-11-02 22:42:24 +00:00
LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i);
Fix compiler warnings - Patched up for most included configurations
2015-03-28 03:29:05 +00:00
Clean up serial out code
2016-09-12 22:49:35 +00:00
// SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
Adjust comments, spacing
2016-09-15 18:34:24 +00:00
* Get Home position SCARA arm angles using inverse kinematics,
* and calculate homing offset using forward kinematics
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
*/
Generalize kinematics function names
2016-07-21 22:46:22 +00:00
inverse_kinematics(homeposition);
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Clean up serial out code
2016-09-12 22:49:35 +00:00
// SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
* SCARA home positions are based on configuration since the actual
* limits are determined by the inverse kinematic transform.
*/
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
Fix compiler warnings - Patched up for most included configurations
2015-03-28 03:29:05 +00:00
}
Fixup axis_is_at_home a little
2015-04-24 01:16:44 +00:00
else
#endif
{
Add LOGICAL_POSITION macro, apply to kinematics
2016-07-23 00:46:05 +00:00
current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
}
Apply zprobe_zoffset in axis_is_at_home Ensure the probe offset will always be included when homing Z.
2015-04-16 14:41:19 +00:00
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
/**
* Z Probe Z Homing? Account for the probe's Z offset.
*/
#if HAS_BED_PROBE && Z_HOME_DIR < 0
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
if (axis == Z_AXIS) {
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
#if HOMING_Z_WITH_PROBE
current_position[Z_AXIS] -= zprobe_zoffset;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
}
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
#endif
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
#elif ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
#endif
}
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
#endif
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
Add more leveling-debug output
2016-04-06 01:30:53 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_HOME_OFFSET
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
#endif
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
DEBUG_POS("", current_position);
Augment debug/homing logging
2016-08-19 06:09:03 +00:00
SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
SERIAL_CHAR(')');
SERIAL_EOL;
Add more leveling-debug output
2016-04-06 01:30:53 +00:00
}
#endif
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
ARRAY_BY_EXTRUDERS, shorthand to sync planner - Add some documentation to planner and stepper headers - Patch up RAMBO pins with undefs - Add `sync_plan_position` inline to set current XYZE - Swap indices in `extruder_offset` to fix initialization values
2015-03-29 03:33:21 +00:00
/**
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
* Some planner shorthand inline functions
ARRAY_BY_EXTRUDERS, shorthand to sync planner - Add some documentation to planner and stepper headers - Patch up RAMBO pins with undefs - Add `sync_plan_position` inline to set current XYZE - Swap indices in `extruder_offset` to fix initialization values
2015-03-29 03:33:21 +00:00
*/
Unify run_z_probe Unify run_z_probe Add double touch for DELTAs. Introduce Z_PROBE_SPEED_FAST and Z_PROBE_SPEED_SLOW defaulting to homing_feedrate_mm_m[Z_AXIS] and homing_feedrate_mm_m[Z_AXIS]/2
2016-07-18 13:52:41 +00:00
inline float get_homing_bump_feedrate(AxisEnum axis) {
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
int constexpr homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
Reduce set_homing_bump_feedrate, save 42 bytes (PR#2512) Updates to `set_homing_bump_feedrate`: - Move the string into Program Memory, reduce length by 31 bytes - Use an auto to get the divisor, adjust it on error - Set feedrate once, at the end
2015-07-24 20:43:03 +00:00
int hbd = homing_bump_divisor[axis];
if (hbd < 1) {
hbd = 10;
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
Encapsulate setting of homing_bump_feedrate
2015-04-07 06:21:33 +00:00
}
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
return homing_feedrate_mm_s[axis] / hbd;
Encapsulate setting of homing_bump_feedrate
2015-04-07 06:21:33 +00:00
}
Introduce line_to_axis_pos(axis_codes axis, float where, float feed_rate = 0.0) and use it in `homeaxis()` instead of `do_blocking_move_to_axis_pos()`. `do_blocking_move_to_axis_pos` was wrong because it performed subdivided, delta-corrected moves for x- and y-axis. The first common move for delta homing is like quick_home but for 3 towers. Fix two warnings.
2016-07-19 15:24:44 +00:00
Make movement functions more available
2016-09-22 12:49:49 +00:00
//
// line_to_current_position
// Move the planner to the current position from wherever it last moved
// (or from wherever it has been told it is located).
//
inline void line_to_current_position() {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
}
No line_to_* functions with IS_KINEMATIC
2016-09-15 08:02:42 +00:00
Make movement functions more available
2016-09-22 12:49:49 +00:00
//
// line_to_destination
// Move the planner, not necessarily synced with current_position
//
inline void line_to_destination(float fr_mm_s) {
planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
}
inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
Use a macro for array copies
2017-03-05 01:19:06 +00:00
inline void set_current_to_destination() { COPY(current_position, destination); }
inline void set_destination_to_current() { COPY(destination, current_position); }
ARRAY_BY_EXTRUDERS, shorthand to sync planner - Add some documentation to planner and stepper headers - Patch up RAMBO pins with undefs - Add `sync_plan_position` inline to set current XYZE - Swap indices in `extruder_offset` to fix initialization values
2015-03-29 03:33:21 +00:00
SCARA support in do_blocking_move_to
2016-09-15 18:21:59 +00:00
#if IS_KINEMATIC
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
/**
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
* Calculate delta, start a line, and set current_position to destination
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
*/
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
prepare_move_to_destination_raw => prepare_uninterpolated_move_to_destination
2016-09-15 07:55:23 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
#endif
Skip raw moves to current position
2016-09-21 23:47:11 +00:00
if ( current_position[X_AXIS] == destination[X_AXIS]
&& current_position[Y_AXIS] == destination[Y_AXIS]
&& current_position[Z_AXIS] == destination[Z_AXIS]
&& current_position[E_AXIS] == destination[E_AXIS]
) return;
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
refresh_cmd_timeout();
Improve planner kinematics, fix delta ABL
2016-10-06 08:56:05 +00:00
planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
set_current_to_destination();
}
Minor cleanups in Marlin_main.cpp
2016-09-21 22:27:37 +00:00
#endif // IS_KINEMATIC
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
/**
* Plan a move to (X, Y, Z) and set the current_position
* The final current_position may not be the one that was requested
*/
do_blocking_move_to can't be 'inline', takes const ref args
2016-08-10 07:03:04 +00:00
void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) {
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float old_feedrate_mm_s = feedrate_mm_s;
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z);
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
#endif
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
#if ENABLED(DELTA)
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
UBL-related cleanup, spacing, standards Reference: #6804
2017-05-21 10:28:38 +00:00
if (!position_is_reachable_xy(x, y)) return;
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
Cleanup do_blocking_move_to for DELTA
2016-07-22 21:18:08 +00:00
set_destination_to_current(); // sync destination at the start
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Fix for the PR #4379 (Additional logging of do_blocking_move_to) ・Remove unneeded PSTR()
2016-07-23 07:37:46 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#endif
DELTA do_blocking_move_to() more like the Chartesian one
2016-07-22 01:12:46 +00:00
// when in the danger zone
if (current_position[Z_AXIS] > delta_clip_start_height) {
Cleanup do_blocking_move_to for DELTA
2016-07-22 21:18:08 +00:00
if (z > delta_clip_start_height) { // staying in the danger zone
destination[X_AXIS] = x; // move directly (uninterpolated)
DELTA do_blocking_move_to() more like the Chartesian one
2016-07-22 01:12:46 +00:00
destination[Y_AXIS] = y;
destination[Z_AXIS] = z;
prepare_move_to_destination_raw => prepare_uninterpolated_move_to_destination
2016-09-15 07:55:23 +00:00
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Fix for the PR #4379 (Additional logging of do_blocking_move_to) ・Remove unneeded PSTR()
2016-07-23 07:37:46 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#endif
DELTA do_blocking_move_to() more like the Chartesian one
2016-07-22 01:12:46 +00:00
return;
Cleanup do_blocking_move_to for DELTA
2016-07-22 21:18:08 +00:00
}
else {
DELTA do_blocking_move_to() more like the Chartesian one
2016-07-22 01:12:46 +00:00
destination[Z_AXIS] = delta_clip_start_height;
prepare_move_to_destination_raw => prepare_uninterpolated_move_to_destination
2016-09-15 07:55:23 +00:00
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Fix for the PR #4379 (Additional logging of do_blocking_move_to) ・Remove unneeded PSTR()
2016-07-23 07:37:46 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#endif
DELTA do_blocking_move_to() more like the Chartesian one
2016-07-22 01:12:46 +00:00
}
}
Cleanup do_blocking_move_to for DELTA
2016-07-22 21:18:08 +00:00
if (z > current_position[Z_AXIS]) { // raising?
DELTA do_blocking_move_to() more like the Chartesian one
2016-07-22 01:12:46 +00:00
destination[Z_AXIS] = z;
prepare_move_to_destination_raw => prepare_uninterpolated_move_to_destination
2016-09-15 07:55:23 +00:00
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Fix for the PR #4379 (Additional logging of do_blocking_move_to) ・Remove unneeded PSTR()
2016-07-23 07:37:46 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#endif
DELTA do_blocking_move_to() more like the Chartesian one
2016-07-22 01:12:46 +00:00
}
Cleanup do_blocking_move_to for DELTA
2016-07-22 21:18:08 +00:00
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
Cleanup do_blocking_move_to for DELTA
2016-07-22 21:18:08 +00:00
prepare_move_to_destination(); // set_current_to_destination
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Fix for the PR #4379 (Additional logging of do_blocking_move_to) ・Remove unneeded PSTR()
2016-07-23 07:37:46 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#endif
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
Cleanup do_blocking_move_to for DELTA
2016-07-22 21:18:08 +00:00
if (z < current_position[Z_AXIS]) { // lowering?
DELTA do_blocking_move_to() more like the Chartesian one
2016-07-22 01:12:46 +00:00
destination[Z_AXIS] = z;
prepare_move_to_destination_raw => prepare_uninterpolated_move_to_destination
2016-09-15 07:55:23 +00:00
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Fix for the PR #4379 (Additional logging of do_blocking_move_to) ・Remove unneeded PSTR()
2016-07-23 07:37:46 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
Additional logging of do_blocking_move_to
2016-07-23 06:52:42 +00:00
#endif
DELTA do_blocking_move_to() more like the Chartesian one
2016-07-22 01:12:46 +00:00
}
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
SCARA support in do_blocking_move_to
2016-09-15 18:21:59 +00:00
#elif IS_SCARA
UBL-related cleanup, spacing, standards Reference: #6804
2017-05-21 10:28:38 +00:00
if (!position_is_reachable_xy(x, y)) return;
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
SCARA support in do_blocking_move_to
2016-09-15 18:21:59 +00:00
set_destination_to_current();
// If Z needs to raise, do it before moving XY
Minor cleanups in Marlin_main.cpp
2016-09-21 22:27:37 +00:00
if (destination[Z_AXIS] < z) {
SCARA support in do_blocking_move_to
2016-09-15 18:21:59 +00:00
destination[Z_AXIS] = z;
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
SCARA support in do_blocking_move_to
2016-09-15 18:21:59 +00:00
}
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
SCARA support in do_blocking_move_to
2016-09-15 18:21:59 +00:00
// If Z needs to lower, do it after moving XY
Minor cleanups in Marlin_main.cpp
2016-09-21 22:27:37 +00:00
if (destination[Z_AXIS] > z) {
SCARA support in do_blocking_move_to
2016-09-15 18:21:59 +00:00
destination[Z_AXIS] = z;
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
SCARA support in do_blocking_move_to
2016-09-15 18:21:59 +00:00
}
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
#else
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < z) {
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
current_position[Z_AXIS] = z;
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
line_to_current_position();
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
}
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
current_position[X_AXIS] = x;
current_position[Y_AXIS] = y;
line_to_current_position();
Move Z up before, or down after XY, for "blocking move"
2016-06-23 22:50:13 +00:00
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > z) {
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
current_position[Z_AXIS] = z;
line_to_current_position();
}
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
#endif
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
stepper.synchronize();
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
feedrate_mm_s = old_feedrate_mm_s;
Minor cleanups in Marlin_main.cpp
2016-09-21 22:27:37 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
}
do_blocking_move_to can't be 'inline', takes const ref args
2016-08-10 07:03:04 +00:00
void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
Undo the self-sabotage that is do_blocking_move_to_axis_pos
2016-07-23 07:58:53 +00:00
}
do_blocking_move_to can't be 'inline', takes const ref args
2016-08-10 07:03:04 +00:00
void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) {
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s);
Undo the self-sabotage that is do_blocking_move_to_axis_pos
2016-07-23 07:58:53 +00:00
}
do_blocking_move_to can't be 'inline', takes const ref args
2016-08-10 07:03:04 +00:00
void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) {
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s);
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
}
Make Z Probe options independent of ABL
2016-06-15 01:03:17 +00:00
Moves do_blocking_move_to_xy() out of the HAS_BED_PROBE define
2016-07-16 02:13:02 +00:00
//
// Prepare to do endstop or probe moves
// with custom feedrates.
//
// - Save current feedrates
// - Reset the rate multiplier
// - Reset the command timeout
// - Enable the endstops (for endstop moves)
//
static void setup_for_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
saved_feedrate_mm_s = feedrate_mm_s;
Append units to feedrate variables
2016-07-16 01:49:34 +00:00
saved_feedrate_percentage = feedrate_percentage;
feedrate_percentage = 100;
Moves do_blocking_move_to_xy() out of the HAS_BED_PROBE define
2016-07-16 02:13:02 +00:00
refresh_cmd_timeout();
}
static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
feedrate_mm_s = saved_feedrate_mm_s;
Append units to feedrate variables
2016-07-16 01:49:34 +00:00
feedrate_percentage = saved_feedrate_percentage;
Moves do_blocking_move_to_xy() out of the HAS_BED_PROBE define
2016-07-16 02:13:02 +00:00
refresh_cmd_timeout();
}
do_blocking_move_*() no longer depend on HAS_BED_PROBE
2016-07-14 23:26:37 +00:00
#if HAS_BED_PROBE
Always raise Z (if needed) for servo deploy/stow
2016-06-12 22:15:37 +00:00
/**
Generalized probe raise, use for after probing
2016-06-22 21:40:15 +00:00
* Raise Z to a minimum height to make room for a probe to move
Always raise Z (if needed) for servo deploy/stow
2016-06-12 22:15:37 +00:00
*/
Generalized probe raise, use for after probing
2016-06-22 21:40:15 +00:00
inline void do_probe_raise(float z_raise) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
SERIAL_CHAR(')');
SERIAL_EOL;
Generalized probe raise, use for after probing
2016-06-22 21:40:15 +00:00
}
#endif
Revert to Probe Raise rather than Probe Height
2016-09-14 01:25:12 +00:00
Make POSITION macros global
2016-07-24 23:34:01 +00:00
float z_dest = LOGICAL_Z_POSITION(z_raise);
Revert to Probe Raise rather than Probe Height
2016-09-14 01:25:12 +00:00
if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
Delta probe height bug solved
2017-04-21 23:23:56 +00:00
#if ENABLED(DELTA)
z_dest -= home_offset[Z_AXIS];
#endif
Revert to Probe Raise rather than Probe Height
2016-09-14 01:25:12 +00:00
Don't do_probe_raise with MIN_Z_HEIGHT_FOR_HOMING
2016-07-06 01:32:24 +00:00
if (z_dest > current_position[Z_AXIS])
Generalized probe raise, use for after probing
2016-06-22 21:40:15 +00:00
do_blocking_move_to_z(z_dest);
Always raise Z (if needed) for servo deploy/stow
2016-06-12 22:15:37 +00:00
}
Patch #else / #endif comments
2017-05-09 17:35:43 +00:00
#endif // HAS_BED_PROBE
Always raise Z (if needed) for servo deploy/stow
2016-06-12 22:15:37 +00:00
Initial patches to G33
2017-04-28 22:17:01 +00:00
#if HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE) || ENABLED(DELTA_AUTO_CALIBRATION)
More constraint on axis_unhomed_error
2017-05-14 20:57:37 +00:00
bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) {
Fix recent regressions, &c. - fix broken `M421` due to less-than-careful optimization - add HOME_AFTER_DEACTIVATE define to advanced config so not everyone has to rehome after steppers are deactivated - misc. cleanups (remove unused label, unused variables)
2017-05-17 21:16:38 +00:00
#if ENABLED(HOME_AFTER_DEACTIVATE)
More constraint on axis_unhomed_error
2017-05-14 20:57:37 +00:00
const bool xx = x && !axis_known_position[X_AXIS],
yy = y && !axis_known_position[Y_AXIS],
zz = z && !axis_known_position[Z_AXIS];
Fix recent regressions, &c. - fix broken `M421` due to less-than-careful optimization - add HOME_AFTER_DEACTIVATE define to advanced config so not everyone has to rehome after steppers are deactivated - misc. cleanups (remove unused label, unused variables)
2017-05-17 21:16:38 +00:00
#else
const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS],
zz = z && !axis_homed[Z_AXIS];
#endif
Followup for #4320
2016-07-16 10:57:35 +00:00
if (xx || yy || zz) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOME " ");
if (xx) SERIAL_ECHOPGM(MSG_X);
if (yy) SERIAL_ECHOPGM(MSG_Y);
if (zz) SERIAL_ECHOPGM(MSG_Z);
SERIAL_ECHOLNPGM(" " MSG_FIRST);
#if ENABLED(ULTRA_LCD)
status_printf => lcd_status_printf_P
2017-04-02 05:46:37 +00:00
lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : "");
Followup for #4320
2016-07-16 10:57:35 +00:00
#endif
return true;
}
return false;
Add HAS_PROBING_PROCEDURE conditional
2016-06-22 21:03:22 +00:00
}
Initial patches to G33
2017-04-28 22:17:01 +00:00
Followup for #4320
2016-07-16 10:57:35 +00:00
#endif
Add HAS_PROBING_PROCEDURE conditional
2016-06-22 21:03:22 +00:00
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
#define SLED_DOCKING_OFFSET 0
#endif
/**
* Method to dock/undock a sled designed by Charles Bell.
*
Simplify dock_sled() `dock_sled()` is never called with offset parameter - remove it. We move x only - so only that needs to be homed. Consequence is - we can home to z-min now with a sled probe! Feedrates are set and restored in `do_blocking_move()`. We already checked if the probe is deployed/stowed in deploy/stow_probe. ``` if (z_loc < _Z_RAISE_PROBE_DEPLOY_STOW + 5) z_loc = _Z_RAISE_PROBE_DEPLOY_STOW; ``` makes no sense - remove. Now the raise is the same for deploy/stow -> move before the if. Replace the if with a ternary. Instead writing LOW/HIGH use the boolean `stow` we already have. There is no reason for not using the sled probe in G29/M48 with 'E'. It takes a while but works. (tested!)
2016-06-27 16:09:22 +00:00
* stow[in] If false, move to MAX_X and engage the solenoid
* If true, move to MAX_X and release the solenoid
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
*/
Simplify dock_sled() `dock_sled()` is never called with offset parameter - remove it. We move x only - so only that needs to be homed. Consequence is - we can home to z-min now with a sled probe! Feedrates are set and restored in `do_blocking_move()`. We already checked if the probe is deployed/stowed in deploy/stow_probe. ``` if (z_loc < _Z_RAISE_PROBE_DEPLOY_STOW + 5) z_loc = _Z_RAISE_PROBE_DEPLOY_STOW; ``` makes no sense - remove. Now the raise is the same for deploy/stow -> move before the if. Replace the if with a ternary. Instead writing LOW/HIGH use the boolean `stow` we already have. There is no reason for not using the sled probe in G29/M48 with 'E'. It takes a while but works. (tested!)
2016-06-27 16:09:22 +00:00
static void dock_sled(bool stow) {
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
Simplify dock_sled() `dock_sled()` is never called with offset parameter - remove it. We move x only - so only that needs to be homed. Consequence is - we can home to z-min now with a sled probe! Feedrates are set and restored in `do_blocking_move()`. We already checked if the probe is deployed/stowed in deploy/stow_probe. ``` if (z_loc < _Z_RAISE_PROBE_DEPLOY_STOW + 5) z_loc = _Z_RAISE_PROBE_DEPLOY_STOW; ``` makes no sense - remove. Now the raise is the same for deploy/stow -> move before the if. Replace the if with a ternary. Instead writing LOW/HIGH use the boolean `stow` we already have. There is no reason for not using the sled probe in G29/M48 with 'E'. It takes a while but works. (tested!)
2016-06-27 16:09:22 +00:00
SERIAL_ECHOPAIR("dock_sled(", stow);
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
SERIAL_CHAR(')');
SERIAL_EOL;
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
}
#endif
Simplify dock_sled() `dock_sled()` is never called with offset parameter - remove it. We move x only - so only that needs to be homed. Consequence is - we can home to z-min now with a sled probe! Feedrates are set and restored in `do_blocking_move()`. We already checked if the probe is deployed/stowed in deploy/stow_probe. ``` if (z_loc < _Z_RAISE_PROBE_DEPLOY_STOW + 5) z_loc = _Z_RAISE_PROBE_DEPLOY_STOW; ``` makes no sense - remove. Now the raise is the same for deploy/stow -> move before the if. Replace the if with a ternary. Instead writing LOW/HIGH use the boolean `stow` we already have. There is no reason for not using the sled probe in G29/M48 with 'E'. It takes a while but works. (tested!)
2016-06-27 16:09:22 +00:00
// Dock sled a bit closer to ensure proper capturing
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
Add support for SOLENOID_PROBE
2017-04-14 21:36:02 +00:00
#if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID)
WRITE(SOL1_PIN, !stow); // switch solenoid
Don't set non-existent SLED_PIN
2016-07-30 09:01:46 +00:00
#endif
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
}
Tweak debugging of probe_pt
2016-10-02 23:18:05 +00:00
#elif ENABLED(Z_PROBE_ALLEN_KEY)
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
void run_deploy_moves_script() {
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
#endif
}
Tweak debugging of probe_pt
2016-10-02 23:18:05 +00:00
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
void run_stow_moves_script() {
#if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
#define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
#define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
#define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
#define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
#define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
#define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
#define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
#define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
#define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
#define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
#define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
#define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
#define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
#define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
#define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
#endif
}
Tweak debugging of probe_pt
2016-10-02 23:18:05 +00:00
Move Allen Key probe move scripts to their own functions There was an hidden extra move after the scripts. This is configurable now. Added the extra moves to the relevant configs.
2016-07-04 07:46:22 +00:00
#endif
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
#if ENABLED(PROBING_FANS_OFF)
Cleanups following recent commits
2017-05-08 19:09:37 +00:00
void fans_pause(const bool p) {
if (p != fans_paused) {
fans_paused = p;
if (p)
for (uint8_t x = 0; x < FAN_COUNT; x++) {
paused_fanSpeeds[x] = fanSpeeds[x];
fanSpeeds[x] = 0;
}
else
for (uint8_t x = 0; x < FAN_COUNT; x++)
fanSpeeds[x] = paused_fanSpeeds[x];
}
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
}
Cleanups following recent commits
2017-05-08 19:09:37 +00:00
Cleanup previous implementation of new quiet probing Saves a few lines of code.
2017-05-08 11:40:50 +00:00
#endif // PROBING_FANS_OFF
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
Use deploy/stow with FIX_MOUNTED_PROBE too
2016-06-20 21:31:01 +00:00
#if HAS_BED_PROBE
Formatting / cleanup
2017-04-08 06:53:22 +00:00
// TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
Generalize and simplify 'triggered when stowed test` The `PROBE_IS_TRIGGERED_WHEN_STOWED_TEST` is able to detect if a probe is successfully deployed/stowed. It was part of the Allen Key probes code only. Now the function is generally available. Currently this test is compulsory for Allen Key probes to not alter the used behaviour If you want to add the test for an other type of probe simply add ``` #define PROBE_IS_TRIGGERED_WHEN_STOWED_TEST ``` to your config.
2016-07-06 01:56:17 +00:00
#if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
#else
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
#endif
#endif
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
#if QUIET_PROBING
Cleanups following recent commits
2017-05-08 19:09:37 +00:00
void probing_pause(const bool p) {
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
#if ENABLED(PROBING_HEATERS_OFF)
Cleanups following recent commits
2017-05-08 19:09:37 +00:00
thermalManager.pause(p);
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
#endif
#if ENABLED(PROBING_FANS_OFF)
Cleanups following recent commits
2017-05-08 19:09:37 +00:00
fans_pause(p);
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
#endif
Cleanups following recent commits
2017-05-08 19:09:37 +00:00
if (p) safe_delay(25);
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
}
Cleanups following recent commits
2017-05-08 19:09:37 +00:00
#endif // QUIET_PROBING
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
#if ENABLED(BLTOUCH)
Clean up set_heaters_for_bltouch
2017-04-28 23:22:31 +00:00
guaranteed BLTouch detection To guarantee that the 5mS pulse from a BLTouch is recognized you need to have the endstops.update() routine run twice in that 5mS period. At 200 steps per mm, my system has problems below a feedrate of 120 mm per minute. Two things were done to guarantee the two updates within 5mS: 1) In interrupt mode, a check was added to the temperature ISR. If the endstop interrupt flag/counter is active then it'll kick off the endstop update routine every 1mS until the flag/counter is zero. This flag/counter is decremented by the temperature ISR AND by the stepper ISR. 2) In poling mode, code was added to the stepper ISR that will make sure the ISR runs about every 1.5mS. The "extra" ISR runs only check the endstops. This was done by grabbing the intended ISR delay and, if it's over 2.0mS, splitting the intended delay into multiple smaller delays. The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and the last no less than 0.5mS. ========================================= BLTouch error state recovery If BLTouch already active when deploying the probe then try to reset it & clear the probe. If that doesn't fix it then declare an error. Also added BLTouch init routine to startup section
2017-01-22 00:10:02 +00:00
void bltouch_command(int angle) {
servo[Z_ENDSTOP_SERVO_NR].move(angle); // Give the BL-Touch the command and wait
Configurable delay for BLTouch servo emulation
2017-04-02 15:55:00 +00:00
safe_delay(BLTOUCH_DELAY);
guaranteed BLTouch detection To guarantee that the 5mS pulse from a BLTouch is recognized you need to have the endstops.update() routine run twice in that 5mS period. At 200 steps per mm, my system has problems below a feedrate of 120 mm per minute. Two things were done to guarantee the two updates within 5mS: 1) In interrupt mode, a check was added to the temperature ISR. If the endstop interrupt flag/counter is active then it'll kick off the endstop update routine every 1mS until the flag/counter is zero. This flag/counter is decremented by the temperature ISR AND by the stepper ISR. 2) In poling mode, code was added to the stepper ISR that will make sure the ISR runs about every 1.5mS. The "extra" ISR runs only check the endstops. This was done by grabbing the intended ISR delay and, if it's over 2.0mS, splitting the intended delay into multiple smaller delays. The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and the last no less than 0.5mS. ========================================= BLTouch error state recovery If BLTouch already active when deploying the probe then try to reset it & clear the probe. If that doesn't fix it then declare an error. Also added BLTouch init routine to startup section
2017-01-22 00:10:02 +00:00
}
Apply some general cleanup to code
2017-03-24 05:53:28 +00:00
void set_bltouch_deployed(const bool deploy) {
add BLTouch retry to a second place & add/update delays ================================================= implement requested changes ================================================= remove delays (they're in another PR) & move return
2017-03-24 16:23:00 +00:00
if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
Clean up excess whitespace, comment formatting
2017-04-28 22:36:31 +00:00
bltouch_command(BLTOUCH_RESET); // try to reset it.
add BLTouch retry to a second place & add/update delays ================================================= implement requested changes ================================================= remove delays (they're in another PR) & move return
2017-03-24 16:23:00 +00:00
bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
Clean up excess whitespace, comment formatting
2017-04-28 22:36:31 +00:00
bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
safe_delay(1500); // Wait for internal self-test to complete.
// (Measured completion time was 0.65 seconds
// after reset, deploy, and stow sequence)
add BLTouch retry to a second place & add/update delays ================================================= implement requested changes ================================================= remove delays (they're in another PR) & move return
2017-03-24 16:23:00 +00:00
if (TEST_BLTOUCH()) { // If it still claims to be triggered...
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
stop(); // punt!
}
}
Fix BLTOUCH_HEATERS_OFF bug
2017-05-01 21:10:39 +00:00
guaranteed BLTouch detection To guarantee that the 5mS pulse from a BLTouch is recognized you need to have the endstops.update() routine run twice in that 5mS period. At 200 steps per mm, my system has problems below a feedrate of 120 mm per minute. Two things were done to guarantee the two updates within 5mS: 1) In interrupt mode, a check was added to the temperature ISR. If the endstop interrupt flag/counter is active then it'll kick off the endstop update routine every 1mS until the flag/counter is zero. This flag/counter is decremented by the temperature ISR AND by the stepper ISR. 2) In poling mode, code was added to the stepper ISR that will make sure the ISR runs about every 1.5mS. The "extra" ISR runs only check the endstops. This was done by grabbing the intended ISR delay and, if it's over 2.0mS, splitting the intended delay into multiple smaller delays. The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and the last no less than 0.5mS. ========================================= BLTouch error state recovery If BLTouch already active when deploying the probe then try to reset it & clear the probe. If that doesn't fix it then declare an error. Also added BLTouch init routine to startup section
2017-01-22 00:10:02 +00:00
bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
Fix BLTOUCH_HEATERS_OFF bug
2017-05-01 21:10:39 +00:00
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
}
Clean up set_heaters_for_bltouch
2017-04-28 23:22:31 +00:00
#endif // BLTOUCH
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
// returns false for ok and true for failure
UBL implementation
2017-03-18 15:15:54 +00:00
bool set_probe_deployed(bool deploy) {
Use deploy/stow with FIX_MOUNTED_PROBE too
2016-06-20 21:31:01 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
if (DEBUGGING(LEVELING)) {
DEBUG_POS("set_probe_deployed", current_position);
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR("deploy: ", deploy);
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
}
Use deploy/stow with FIX_MOUNTED_PROBE too
2016-06-20 21:31:01 +00:00
#endif
Fix set_heaters_for_bltouch and usage - Only call `set_heaters_for_bltouch` when actually deploying/stowing - Clear `next_emi_protection` when re-enabling heaters
2017-05-01 07:27:52 +00:00
if (endstops.z_probe_enabled == deploy) return false;
Always raise in deploy_z_probe / stow_z_probe
2016-06-24 01:00:20 +00:00
// Make room for probe
Try on "CLEARANCE" for size
2016-09-20 08:49:42 +00:00
do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
Always raise in deploy_z_probe / stow_z_probe
2016-06-24 01:00:20 +00:00
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
// When deploying make sure BLTOUCH is not already triggered
Add handling of BLTouch error state
2016-09-18 23:02:53 +00:00
#if ENABLED(BLTOUCH)
guaranteed BLTouch detection To guarantee that the 5mS pulse from a BLTouch is recognized you need to have the endstops.update() routine run twice in that 5mS period. At 200 steps per mm, my system has problems below a feedrate of 120 mm per minute. Two things were done to guarantee the two updates within 5mS: 1) In interrupt mode, a check was added to the temperature ISR. If the endstop interrupt flag/counter is active then it'll kick off the endstop update routine every 1mS until the flag/counter is zero. This flag/counter is decremented by the temperature ISR AND by the stepper ISR. 2) In poling mode, code was added to the stepper ISR that will make sure the ISR runs about every 1.5mS. The "extra" ISR runs only check the endstops. This was done by grabbing the intended ISR delay and, if it's over 2.0mS, splitting the intended delay into multiple smaller delays. The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and the last no less than 0.5mS. ========================================= BLTouch error state recovery If BLTouch already active when deploying the probe then try to reset it & clear the probe. If that doesn't fix it then declare an error. Also added BLTouch init routine to startup section
2017-01-22 00:10:02 +00:00
if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
bltouch_command(BLTOUCH_RESET); // try to reset it.
add BLTouch retry to a second place & add/update delays ================================================= implement requested changes ================================================= remove delays (they're in another PR) & move return
2017-03-24 16:23:00 +00:00
bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
safe_delay(1500); // wait for internal self test to complete
// measured completion time was 0.65 seconds
// after reset, deploy & stow sequence
guaranteed BLTouch detection To guarantee that the 5mS pulse from a BLTouch is recognized you need to have the endstops.update() routine run twice in that 5mS period. At 200 steps per mm, my system has problems below a feedrate of 120 mm per minute. Two things were done to guarantee the two updates within 5mS: 1) In interrupt mode, a check was added to the temperature ISR. If the endstop interrupt flag/counter is active then it'll kick off the endstop update routine every 1mS until the flag/counter is zero. This flag/counter is decremented by the temperature ISR AND by the stepper ISR. 2) In poling mode, code was added to the stepper ISR that will make sure the ISR runs about every 1.5mS. The "extra" ISR runs only check the endstops. This was done by grabbing the intended ISR delay and, if it's over 2.0mS, splitting the intended delay into multiple smaller delays. The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and the last no less than 0.5mS. ========================================= BLTouch error state recovery If BLTouch already active when deploying the probe then try to reset it & clear the probe. If that doesn't fix it then declare an error. Also added BLTouch init routine to startup section
2017-01-22 00:10:02 +00:00
if (TEST_BLTOUCH()) { // If it still claims to be triggered...
Message for every KILL and STOP No more mystery halts & resets Moved messages to language.h Added current command to inactive timeout message
2017-03-14 17:24:46 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
guaranteed BLTouch detection To guarantee that the 5mS pulse from a BLTouch is recognized you need to have the endstops.update() routine run twice in that 5mS period. At 200 steps per mm, my system has problems below a feedrate of 120 mm per minute. Two things were done to guarantee the two updates within 5mS: 1) In interrupt mode, a check was added to the temperature ISR. If the endstop interrupt flag/counter is active then it'll kick off the endstop update routine every 1mS until the flag/counter is zero. This flag/counter is decremented by the temperature ISR AND by the stepper ISR. 2) In poling mode, code was added to the stepper ISR that will make sure the ISR runs about every 1.5mS. The "extra" ISR runs only check the endstops. This was done by grabbing the intended ISR delay and, if it's over 2.0mS, splitting the intended delay into multiple smaller delays. The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and the last no less than 0.5mS. ========================================= BLTouch error state recovery If BLTouch already active when deploying the probe then try to reset it & clear the probe. If that doesn't fix it then declare an error. Also added BLTouch init routine to startup section
2017-01-22 00:10:02 +00:00
stop(); // punt!
return true;
}
}
More constraint on axis_unhomed_error
2017-05-14 20:57:37 +00:00
#elif ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
#if ENABLED(Z_PROBE_SLED)
#define _AUE_ARGS true, false, false
#else
#define _AUE_ARGS
#endif
if (axis_unhomed_error(_AUE_ARGS)) {
Message for every KILL and STOP No more mystery halts & resets Moved messages to language.h Added current command to inactive timeout message
2017-03-14 17:24:46 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
stop();
return true;
}
Use deploy/stow with FIX_MOUNTED_PROBE too
2016-06-20 21:31:01 +00:00
#endif
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float oldXpos = current_position[X_AXIS],
oldYpos = current_position[Y_AXIS];
Always raise in deploy_z_probe / stow_z_probe
2016-06-24 01:00:20 +00:00
Generalize and simplify 'triggered when stowed test` The `PROBE_IS_TRIGGERED_WHEN_STOWED_TEST` is able to detect if a probe is successfully deployed/stowed. It was part of the Allen Key probes code only. Now the function is generally available. Currently this test is compulsory for Allen Key probes to not alter the used behaviour If you want to add the test for an other type of probe simply add ``` #define PROBE_IS_TRIGGERED_WHEN_STOWED_TEST ``` to your config.
2016-07-06 01:56:17 +00:00
#ifdef _TRIGGERED_WHEN_STOWED_TEST
Format probe stowed test code
2016-08-06 21:24:05 +00:00
Generalize and simplify 'triggered when stowed test` The `PROBE_IS_TRIGGERED_WHEN_STOWED_TEST` is able to detect if a probe is successfully deployed/stowed. It was part of the Allen Key probes code only. Now the function is generally available. Currently this test is compulsory for Allen Key probes to not alter the used behaviour If you want to add the test for an other type of probe simply add ``` #define PROBE_IS_TRIGGERED_WHEN_STOWED_TEST ``` to your config.
2016-07-06 01:56:17 +00:00
// If endstop is already false, the Z probe is deployed
Format probe stowed test code
2016-08-06 21:24:05 +00:00
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
// Would a goto be less ugly?
//while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
// for a triggered when stowed manual probe.
Generalize and simplify 'triggered when stowed test` The `PROBE_IS_TRIGGERED_WHEN_STOWED_TEST` is able to detect if a probe is successfully deployed/stowed. It was part of the Allen Key probes code only. Now the function is generally available. Currently this test is compulsory for Allen Key probes to not alter the used behaviour If you want to add the test for an other type of probe simply add ``` #define PROBE_IS_TRIGGERED_WHEN_STOWED_TEST ``` to your config.
2016-07-06 01:56:17 +00:00
Format probe stowed test code
2016-08-06 21:24:05 +00:00
if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
// otherwise an Allen-Key probe can't be stowed.
Use deploy/stow with FIX_MOUNTED_PROBE too
2016-06-20 21:31:01 +00:00
#endif
Add support for SOLENOID_PROBE
2017-04-14 21:36:02 +00:00
#if ENABLED(SOLENOID_PROBE)
#if HAS_SOLENOID_1
WRITE(SOL1_PIN, deploy);
#endif
#elif ENABLED(Z_PROBE_SLED)
Format probe stowed test code
2016-08-06 21:24:05 +00:00
dock_sled(!deploy);
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
#elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
Format probe stowed test code
2016-08-06 21:24:05 +00:00
servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[deploy ? 0 : 1]);
#elif ENABLED(Z_PROBE_ALLEN_KEY)
deploy ? run_deploy_moves_script() : run_stow_moves_script();
#endif
Generalize and simplify 'triggered when stowed test` The `PROBE_IS_TRIGGERED_WHEN_STOWED_TEST` is able to detect if a probe is successfully deployed/stowed. It was part of the Allen Key probes code only. Now the function is generally available. Currently this test is compulsory for Allen Key probes to not alter the used behaviour If you want to add the test for an other type of probe simply add ``` #define PROBE_IS_TRIGGERED_WHEN_STOWED_TEST ``` to your config.
2016-07-06 01:56:17 +00:00
#ifdef _TRIGGERED_WHEN_STOWED_TEST
Format probe stowed test code
2016-08-06 21:24:05 +00:00
} // _TRIGGERED_WHEN_STOWED_TEST == deploy
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
Generalize and simplify 'triggered when stowed test` The `PROBE_IS_TRIGGERED_WHEN_STOWED_TEST` is able to detect if a probe is successfully deployed/stowed. It was part of the Allen Key probes code only. Now the function is generally available. Currently this test is compulsory for Allen Key probes to not alter the used behaviour If you want to add the test for an other type of probe simply add ``` #define PROBE_IS_TRIGGERED_WHEN_STOWED_TEST ``` to your config.
2016-07-06 01:56:17 +00:00
if (IsRunning()) {
SERIAL_ERROR_START;
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
SERIAL_ERRORLNPGM("Z-Probe failed");
Generalize and simplify 'triggered when stowed test` The `PROBE_IS_TRIGGERED_WHEN_STOWED_TEST` is able to detect if a probe is successfully deployed/stowed. It was part of the Allen Key probes code only. Now the function is generally available. Currently this test is compulsory for Allen Key probes to not alter the used behaviour If you want to add the test for an other type of probe simply add ``` #define PROBE_IS_TRIGGERED_WHEN_STOWED_TEST ``` to your config.
2016-07-06 01:56:17 +00:00
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
stop();
return true;
Format probe stowed test code
2016-08-06 21:24:05 +00:00
} // _TRIGGERED_WHEN_STOWED_TEST == deploy
Generalize and simplify 'triggered when stowed test` The `PROBE_IS_TRIGGERED_WHEN_STOWED_TEST` is able to detect if a probe is successfully deployed/stowed. It was part of the Allen Key probes code only. Now the function is generally available. Currently this test is compulsory for Allen Key probes to not alter the used behaviour If you want to add the test for an other type of probe simply add ``` #define PROBE_IS_TRIGGERED_WHEN_STOWED_TEST ``` to your config.
2016-07-06 01:56:17 +00:00
#endif
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
Marlin patches for homing, esp. Delta
2016-08-28 00:53:02 +00:00
endstops.enable_z_probe(deploy);
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
return false;
Use deploy/stow with FIX_MOUNTED_PROBE too
2016-06-20 21:31:01 +00:00
}
Add do_probe_move with Z fixes
2016-08-19 06:10:41 +00:00
static void do_probe_move(float z, float fr_mm_m) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
#endif
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
// Deploy BLTouch at the start of any probe
#if ENABLED(BLTOUCH)
set_bltouch_deployed(true);
#endif
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
#if QUIET_PROBING
probing_pause(true);
#endif
Add do_probe_move with Z fixes
2016-08-19 06:10:41 +00:00
// Move down until probe triggered
do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
#if QUIET_PROBING
probing_pause(false);
#endif
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
// Retract BLTouch immediately after a probe
#if ENABLED(BLTOUCH)
set_bltouch_deployed(false);
#endif
Add do_probe_move with Z fixes
2016-08-19 06:10:41 +00:00
// Clear endstop flags
endstops.hit_on_purpose();
// Get Z where the steppers were interrupted
set_current_from_steppers_for_axis(Z_AXIS);
Fix #4995 - M48/G29 on CoreXY maybe others?
2016-10-23 00:45:13 +00:00
// Tell the planner where we actually are
SYNC_PLAN_POSITION_KINEMATIC();
Add do_probe_move with Z fixes
2016-08-19 06:10:41 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
#endif
}
Comment on run_z_probe
2016-06-21 22:14:04 +00:00
// Do a single Z probe and return with current_position[Z_AXIS]
// at the height where the probe triggered.
Return Z position in run_z_probe
2016-06-22 23:52:32 +00:00
static float run_z_probe() {
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
Augment debug/homing logging
2016-08-19 06:09:03 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
#endif
Comment on run_z_probe
2016-06-21 22:14:04 +00:00
// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
refresh_cmd_timeout();
Refresh previous_cmd_ms during run_z_probe() Refresh previous_cmd_ms during run_z_probe() to prevent: stepper shutdown for expired DEFAULT_STEPPER_DEACTIVE_TIME and extrudes for expired EXTRUDER_RUNOUT_SECONDS (https://github.com/MarlinFirmware/MarlinDev/issues/238)
2015-11-03 19:14:15 +00:00
double bump probing as a feature Why double touch probing is not a good thing. It's widely believed we can get better __probing__ results when using a double touch when probing. Let's compare to double touch __homing__. Or better let's begin with single touch __homing__. We home to find out out position, so our position is unknown. To find the endstop we have to move into the direction of the endstop. The maximum way we have to move is a bit longer than the axis length. When we arrive at the endstop - when it triggers, the stepper pulses are stopped immediately. It's a sudden stop. No smooth deacceleration is possible. Depending on the speed and the moving mass we lose steps here. Only if we approached slow enough (below jerk speed?) we will not lose steps. Moving a complete axis length, that slow, takes for ever. To speed up homing, we now make the first approach faster, get a guess about our position, back up a bit and make a second slower approach to get a exact result without losing steps. What we do in double touch probing is the same. But the difference here is: a. we already know where we are b. if the first approach is to fast we will lose steps here to. But this time there is no second approach to set the position to 0. We are measuring only. The lost steps are permanent until we home the next time. So if you experienced permanently rising values in M48 you now know why. (Too fast, suddenly stopped, first approach) What can we do to improve probing? We can use the information about our current position. We can make a really fast, but deaccelerated, move to a place we know it is a bit before the trigger point. And then move the rest of the way really slow.
2016-07-30 01:00:49 +00:00
#if ENABLED(PROBE_DOUBLE_TOUCH)
Add do_probe_move with Z fixes
2016-08-19 06:10:41 +00:00
// Do a first probe at the fast speed
do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
Double-touch debugging
2016-09-28 19:01:59 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
float first_probe_z = current_position[Z_AXIS];
Tweak probe debug, add newline
2016-10-02 22:35:40 +00:00
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
Double-touch debugging
2016-09-28 19:01:59 +00:00
#endif
Add do_probe_move with Z fixes
2016-08-19 06:10:41 +00:00
// move up by the bump distance
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
Include probe offset for moving "close to the bed"
2016-08-19 06:17:56 +00:00
double bump probing as a feature Why double touch probing is not a good thing. It's widely believed we can get better __probing__ results when using a double touch when probing. Let's compare to double touch __homing__. Or better let's begin with single touch __homing__. We home to find out out position, so our position is unknown. To find the endstop we have to move into the direction of the endstop. The maximum way we have to move is a bit longer than the axis length. When we arrive at the endstop - when it triggers, the stepper pulses are stopped immediately. It's a sudden stop. No smooth deacceleration is possible. Depending on the speed and the moving mass we lose steps here. Only if we approached slow enough (below jerk speed?) we will not lose steps. Moving a complete axis length, that slow, takes for ever. To speed up homing, we now make the first approach faster, get a guess about our position, back up a bit and make a second slower approach to get a exact result without losing steps. What we do in double touch probing is the same. But the difference here is: a. we already know where we are b. if the first approach is to fast we will lose steps here to. But this time there is no second approach to set the position to 0. We are measuring only. The lost steps are permanent until we home the next time. So if you experienced permanently rising values in M48 you now know why. (Too fast, suddenly stopped, first approach) What can we do to improve probing? We can use the information about our current position. We can make a really fast, but deaccelerated, move to a place we know it is a bit before the trigger point. And then move the rest of the way really slow.
2016-07-30 01:00:49 +00:00
#else
Include probe offset for moving "close to the bed"
2016-08-19 06:17:56 +00:00
Use the probe travel height for pre-probe move Instead of using the home_bump for Z to move close to the bed before doing a slow probe, use the probe travel height.
2016-08-29 00:13:08 +00:00
// If the nozzle is above the travel height then
// move down quickly before doing the slow probe
Try on "CLEARANCE" for size
2016-09-20 08:49:42 +00:00
float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
Include negative Z probe offset in clearance move
2016-10-03 21:18:04 +00:00
if (zprobe_zoffset < 0) z -= zprobe_zoffset;
Delta probe height bug solved
2017-04-21 23:23:56 +00:00
#if ENABLED(DELTA)
z -= home_offset[Z_AXIS];
#endif
Use the probe travel height for pre-probe move Instead of using the home_bump for Z to move close to the bed before doing a slow probe, use the probe travel height.
2016-08-29 00:13:08 +00:00
if (z < current_position[Z_AXIS])
do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
Include probe offset for moving "close to the bed"
2016-08-19 06:17:56 +00:00
double bump probing as a feature Why double touch probing is not a good thing. It's widely believed we can get better __probing__ results when using a double touch when probing. Let's compare to double touch __homing__. Or better let's begin with single touch __homing__. We home to find out out position, so our position is unknown. To find the endstop we have to move into the direction of the endstop. The maximum way we have to move is a bit longer than the axis length. When we arrive at the endstop - when it triggers, the stepper pulses are stopped immediately. It's a sudden stop. No smooth deacceleration is possible. Depending on the speed and the moving mass we lose steps here. Only if we approached slow enough (below jerk speed?) we will not lose steps. Moving a complete axis length, that slow, takes for ever. To speed up homing, we now make the first approach faster, get a guess about our position, back up a bit and make a second slower approach to get a exact result without losing steps. What we do in double touch probing is the same. But the difference here is: a. we already know where we are b. if the first approach is to fast we will lose steps here to. But this time there is no second approach to set the position to 0. We are measuring only. The lost steps are permanent until we home the next time. So if you experienced permanently rising values in M48 you now know why. (Too fast, suddenly stopped, first approach) What can we do to improve probing? We can use the information about our current position. We can make a really fast, but deaccelerated, move to a place we know it is a bit before the trigger point. And then move the rest of the way really slow.
2016-07-30 01:00:49 +00:00
#endif
Unify run_z_probe Unify run_z_probe Add double touch for DELTAs. Introduce Z_PROBE_SPEED_FAST and Z_PROBE_SPEED_SLOW defaulting to homing_feedrate_mm_m[Z_AXIS] and homing_feedrate_mm_m[Z_AXIS]/2
2016-07-18 13:52:41 +00:00
double bump probing as a feature Why double touch probing is not a good thing. It's widely believed we can get better __probing__ results when using a double touch when probing. Let's compare to double touch __homing__. Or better let's begin with single touch __homing__. We home to find out out position, so our position is unknown. To find the endstop we have to move into the direction of the endstop. The maximum way we have to move is a bit longer than the axis length. When we arrive at the endstop - when it triggers, the stepper pulses are stopped immediately. It's a sudden stop. No smooth deacceleration is possible. Depending on the speed and the moving mass we lose steps here. Only if we approached slow enough (below jerk speed?) we will not lose steps. Moving a complete axis length, that slow, takes for ever. To speed up homing, we now make the first approach faster, get a guess about our position, back up a bit and make a second slower approach to get a exact result without losing steps. What we do in double touch probing is the same. But the difference here is: a. we already know where we are b. if the first approach is to fast we will lose steps here to. But this time there is no second approach to set the position to 0. We are measuring only. The lost steps are permanent until we home the next time. So if you experienced permanently rising values in M48 you now know why. (Too fast, suddenly stopped, first approach) What can we do to improve probing? We can use the information about our current position. We can make a really fast, but deaccelerated, move to a place we know it is a bit before the trigger point. And then move the rest of the way really slow.
2016-07-30 01:00:49 +00:00
// move down slowly to find bed
Fix bed probing bug without PROBE_DOUBLE_TOUCH If `PROBE_DOUBLE_TOUCH` wasn't enabled, the probe move could be way too short! See #4701 for example.
2016-08-29 00:00:25 +00:00
do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_SLOW);
More debug message cleanup
2016-06-28 02:33:37 +00:00
Unify run_z_probe Unify run_z_probe Add double touch for DELTAs. Introduce Z_PROBE_SPEED_FAST and Z_PROBE_SPEED_SLOW defaulting to homing_feedrate_mm_m[Z_AXIS] and homing_feedrate_mm_m[Z_AXIS]/2
2016-07-18 13:52:41 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Augment debug/homing logging
2016-08-19 06:09:03 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
Unify run_z_probe Unify run_z_probe Add double touch for DELTAs. Introduce Z_PROBE_SPEED_FAST and Z_PROBE_SPEED_SLOW defaulting to homing_feedrate_mm_m[Z_AXIS] and homing_feedrate_mm_m[Z_AXIS]/2
2016-07-18 13:52:41 +00:00
#endif
Return Z position in run_z_probe
2016-06-22 23:52:32 +00:00
Double-touch debugging
2016-09-28 19:01:59 +00:00
// Debug: compare probe heights
#if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
}
#endif
Have run_probe() return probe Z, not nozzle Z
2017-03-25 04:25:59 +00:00
return current_position[Z_AXIS] + zprobe_zoffset;
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
}
Bed Auto Leveling feature Check the Readme for instruction how to enable and configure the feature
2013-09-29 16:20:06 +00:00
Clean up excess whitespace, comment formatting
2017-04-28 22:36:31 +00:00
/**
* - Move to the given XY
* - Deploy the probe, if not already deployed
* - Probe the bed, get the Z position
* - Depending on the 'stow' flag
* - Stow the probe, or
* - Raise to the BETWEEN height
* - Return the probed Z position
*/
Formatting / cleanup
2017-04-08 06:53:22 +00:00
float probe_pt(const float x, const float y, const bool stow/*=true*/, const int verbose_level/*=1*/) {
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(LEVELING)) {
More debug message cleanup
2016-06-28 02:33:37 +00:00
SERIAL_ECHOPAIR(">>> probe_pt(", x);
SERIAL_ECHOPAIR(", ", y);
Tweak debugging of probe_pt
2016-10-02 23:18:05 +00:00
SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
SERIAL_ECHOLNPGM("stow)");
Reduce string storage required for DEBUG_LEVELING
2016-04-06 02:04:42 +00:00
DEBUG_POS("", current_position);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
}
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
UBL-related cleanup, spacing, standards Reference: #6804
2017-05-21 10:28:38 +00:00
if (!position_is_reachable_by_probe_xy(x, y)) return NAN;
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float old_feedrate_mm_s = feedrate_mm_s;
Pass a raise to probe_pt, not a Z position
2016-06-22 23:39:51 +00:00
Move to safe zone on DELTA if using do_blocking_move_to*
2016-12-10 12:49:46 +00:00
#if ENABLED(DELTA)
if (current_position[Z_AXIS] > delta_clip_start_height)
do_blocking_move_to_z(delta_clip_start_height);
#endif
Ensure a minimum height before XY move in probe_pt
2016-06-26 02:19:31 +00:00
// Ensure a minimum height before moving the probe
Try on "CLEARANCE" for size
2016-09-20 08:49:42 +00:00
do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
Ensure a minimum height before XY move in probe_pt
2016-06-26 02:19:31 +00:00
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
Adjust comments, spacing
2016-09-15 18:34:24 +00:00
// Move the probe to the given XY
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
if (DEPLOY_PROBE()) return NAN;
Simpler handling of sled/allen-key in probe_pt
2016-06-21 22:15:59 +00:00
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float measured_z = run_z_probe();
Add probe_pt(), useful for auto bed leveling
2014-02-16 18:38:29 +00:00
Revert to Probe Raise rather than Probe Height
2016-09-14 01:25:12 +00:00
if (!stow)
Try on "CLEARANCE" for size
2016-09-20 08:49:42 +00:00
do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
Revert to Probe Raise rather than Probe Height
2016-09-14 01:25:12 +00:00
else
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
if (STOW_PROBE()) return NAN;
Add probe_pt(), useful for auto bed leveling
2014-02-16 18:38:29 +00:00
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
if (verbose_level > 2) {
Combine "Bed X: " strings
2015-05-17 08:49:52 +00:00
SERIAL_PROTOCOLPGM("Bed X: ");
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
SERIAL_PROTOCOL_F(x, 3);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL_F(y, 3);
SERIAL_PROTOCOLPGM(" Z: ");
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
SERIAL_PROTOCOL_F(measured_z, 3);
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
SERIAL_EOL;
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
}
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Reduce string storage required for DEBUG_LEVELING
2016-04-06 02:04:42 +00:00
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
feedrate_mm_s = old_feedrate_mm_s;
Save and restore feedrate in more places
2016-06-22 22:49:05 +00:00
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
return measured_z;
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
}
Simplified probe_pt function (part 1)
2016-06-24 02:00:29 +00:00
#endif // HAS_BED_PROBE
Add HAS_PROBING_PROCEDURE conditional
2016-06-22 21:03:22 +00:00
Adjust leveling conditionals
2017-05-01 21:13:09 +00:00
#if HAS_LEVELING
Standard function to turn bed leveling on/off
2016-09-29 05:59:06 +00:00
/**
* Turn bed leveling on or off, fixing the current
* position as-needed.
*
* Disable: Current position = physical position
* Enable: Current position = "unleveled" physical position
*/
Save ABL Planar Matrix to EEPROM
2016-12-14 07:50:06 +00:00
void set_bed_leveling_enabled(bool enable/*=true*/) {
Standard function to turn bed leveling on/off
2016-09-29 05:59:06 +00:00
#if ENABLED(MESH_BED_LEVELING)
Use apply_leveling, not MBL directly
2016-12-05 07:53:36 +00:00
if (enable != mbl.active()) {
Standard function to turn bed leveling on/off
2016-09-29 05:59:06 +00:00
Use apply_leveling, not MBL directly
2016-12-05 07:53:36 +00:00
if (!enable)
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
mbl.set_active(enable && mbl.has_mesh());
Apply some general cleanup to code
2017-03-24 05:53:28 +00:00
if (enable && mbl.has_mesh()) planner.unapply_leveling(current_position);
Use apply_leveling, not MBL directly
2016-12-05 07:53:36 +00:00
}
Standard function to turn bed leveling on/off
2016-09-29 05:59:06 +00:00
Tweak set_bed_leveling_enabled
2017-05-01 21:16:16 +00:00
#elif ENABLED(AUTO_BED_LEVELING_UBL)
Cleanups to UBL_DELTA
2017-05-12 06:05:11 +00:00
#if PLANNER_LEVELING
if (ubl.state.active != enable) {
if (!enable) // leveling from on to off
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
else
planner.unapply_leveling(current_position);
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
}
#endif
Tweak set_bed_leveling_enabled
2017-05-01 21:16:16 +00:00
ubl.state.active = enable;
Patches for leveling reactivation in G28 / M48
2017-05-01 22:34:28 +00:00
#else
Standard function to turn bed leveling on/off
2016-09-29 05:59:06 +00:00
Throw an error in M420 if can't enable
2016-12-10 08:41:47 +00:00
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
const bool can_change = (!enable || (bilinear_grid_spacing[0] && bilinear_grid_spacing[1]));
#else
constexpr bool can_change = true;
#endif
if (can_change && enable != planner.abl_enabled) {
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Force bilinear_z_offset to re-calculate next time
const float reset[XYZ] = { -9999.999, -9999.999, 0 };
(void)bilinear_z_offset(reset);
#endif
Minor cleanup of set_bed_leveling_enabled
2016-10-10 22:05:40 +00:00
planner.abl_enabled = enable;
if (!enable)
Standard function to turn bed leveling on/off
2016-09-29 05:59:06 +00:00
set_current_from_steppers_for_axis(
#if ABL_PLANAR
ALL_AXES
#else
Z_AXIS
#endif
);
else
planner.unapply_leveling(current_position);
}
#endif
}
Add a fade factor for mesh leveling
2016-11-26 05:32:47 +00:00
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
void set_z_fade_height(const float zfh) {
planner.z_fade_height = zfh;
planner.inverse_z_fade_height = RECIPROCAL(zfh);
if (
#if ENABLED(MESH_BED_LEVELING)
mbl.active()
#else
planner.abl_enabled
#endif
) {
set_current_from_steppers_for_axis(
#if ABL_PLANAR
ALL_AXES
#else
Z_AXIS
#endif
);
}
}
#endif // LEVELING_FADE_HEIGHT
Add HAS_PROBING_PROCEDURE conditional
2016-06-22 21:03:22 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Reset calibration results to zero.
*/
void reset_bed_level() {
Fixup reset_bed_level
2016-12-10 07:54:09 +00:00
set_bed_leveling_enabled(false);
Standard function to turn bed leveling on/off
2016-09-29 05:59:06 +00:00
#if ENABLED(MESH_BED_LEVELING)
if (mbl.has_mesh()) {
mbl.reset();
mbl.set_has_mesh(false);
}
#else
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
#if ABL_PLANAR
planner.bed_level_matrix.set_to_identity();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
Fixup reset_bed_level
2016-12-10 07:54:09 +00:00
bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
z_values[x][y] = NAN;
Get UBL up and running again All the changes to get the code into compliance with Marlin coding standards made UBL sick. This pretty much gets UBL back up and running.
2017-03-23 20:56:38 +00:00
#elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.reset();
Standard function to turn bed leveling on/off
2016-09-29 05:59:06 +00:00
#endif
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
#endif
}
Add HAS_PROBING_PROCEDURE conditional
2016-06-22 21:03:22 +00:00
Adjust leveling conditionals
2017-05-01 21:13:09 +00:00
#endif // HAS_LEVELING
Fix up untilted_stepper_position and set_current_from_steppers_for_axis
2016-09-12 07:52:52 +00:00
Add hidden option to output Bilinear grids in JSON
2017-04-05 07:55:25 +00:00
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
Clean up excess whitespace, comment formatting
2017-04-28 22:36:31 +00:00
/**
* Enable to produce output in JSON format suitable
* for SCAD or JavaScript mesh visualizers.
*
* Visualize meshes in OpenSCAD using the included script.
*
* buildroot/shared/scripts/MarlinMesh.scad
*/
Add hidden option to output Bilinear grids in JSON
2017-04-05 07:55:25 +00:00
//#define SCAD_MESH_OUTPUT
/**
* Print calibration results for plotting or manual frame adjustment.
*/
static void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, float (*fn)(const uint8_t, const uint8_t)) {
#ifndef SCAD_MESH_OUTPUT
for (uint8_t x = 0; x < sx; x++) {
for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL((int)x);
}
SERIAL_EOL;
#endif
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
#endif
for (uint8_t y = 0; y < sy; y++) {
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLLNPGM(" ["); // open sub-array
#else
if (y < 10) SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL((int)y);
#endif
for (uint8_t x = 0; x < sx; x++) {
SERIAL_PROTOCOLCHAR(' ');
const float offset = fn(x, y);
Fixed comparison of float values to NaN
2017-04-09 18:28:46 +00:00
if (!isnan(offset)) {
Add hidden option to output Bilinear grids in JSON
2017-04-05 07:55:25 +00:00
if (offset >= 0) SERIAL_PROTOCOLCHAR('+');
SERIAL_PROTOCOL_F(offset, precision);
}
else {
#ifdef SCAD_MESH_OUTPUT
for (uint8_t i = 3; i < precision + 3; i++)
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOLPGM("NAN");
#else
for (uint8_t i = 0; i < precision + 3; i++)
SERIAL_PROTOCOLCHAR(i ? '=' : ' ');
#endif
}
#ifdef SCAD_MESH_OUTPUT
if (x < sx - 1) SERIAL_PROTOCOLCHAR(',');
#endif
}
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOLCHAR(']'); // close sub-array
if (y < sy - 1) SERIAL_PROTOCOLCHAR(',');
#endif
SERIAL_EOL;
}
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLPGM("\n];"); // close 2D array
#endif
SERIAL_EOL;
}
#endif
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
Tweak extrapolate_one_point
2016-09-15 08:40:34 +00:00
* Extrapolate a single point from its neighbors
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
*/
Dress up Bilinear Leveling code
2017-05-03 06:47:16 +00:00
static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("Extrapolate [");
if (x < 10) SERIAL_CHAR(' ');
SERIAL_ECHO((int)x);
SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
SERIAL_CHAR(' ');
if (y < 10) SERIAL_CHAR(' ');
SERIAL_ECHO((int)y);
SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
Fix formatting of extrapolate debug output
2016-10-06 22:04:22 +00:00
SERIAL_CHAR(']');
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
}
#endif
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
if (!isnan(z_values[x][y])) {
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
#endif
return; // Don't overwrite good values.
}
Fix formatting of extrapolate debug output
2016-10-06 22:04:22 +00:00
SERIAL_EOL;
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
// Get X neighbors, Y neighbors, and XY neighbors
Dress up Bilinear Leveling code
2017-05-03 06:47:16 +00:00
const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
b1 = z_values[x ][y1], b2 = z_values[x ][y2],
c1 = z_values[x1][y1], c2 = z_values[x2][y2];
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
// Treat far unprobed points as zero, near as equal to far
Fixed comparison of float values to NaN
2017-04-09 18:28:46 +00:00
if (isnan(a2)) a2 = 0.0; if (isnan(a1)) a1 = a2;
if (isnan(b2)) b2 = 0.0; if (isnan(b1)) b1 = b2;
if (isnan(c2)) c2 = 0.0; if (isnan(c1)) c1 = c2;
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
Use "UNPROBED" for un-probed bed_level_grid points
2016-12-14 07:41:26 +00:00
// Take the average instead of the median
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
z_values[x][y] = (a + b + c) / 3.0;
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Median is robust (ignores outliers).
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
// z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
// : ((c < b) ? b : (a < c) ? a : c);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
}
Disable EXTRAPOLATE_FROM_EDGE by default
2016-10-14 19:44:28 +00:00
//Enable this if your SCARA uses 180° of total area
//#define EXTRAPOLATE_FROM_EDGE
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#if ENABLED(EXTRAPOLATE_FROM_EDGE)
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
#if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#define HALF_IN_X
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
#elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#define HALF_IN_Y
#endif
#endif
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Fill in the unprobed points (corners of circular print surface)
* using linear extrapolation, away from the center.
*/
static void extrapolate_unprobed_bed_level() {
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#ifdef HALF_IN_X
Dress up Bilinear Leveling code
2017-05-03 06:47:16 +00:00
constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#else
Dress up Bilinear Leveling code
2017-05-03 06:47:16 +00:00
constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
xlen = ctrx1;
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#endif
#ifdef HALF_IN_Y
Dress up Bilinear Leveling code
2017-05-03 06:47:16 +00:00
constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#else
Dress up Bilinear Leveling code
2017-05-03 06:47:16 +00:00
constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
ylen = ctry1;
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#endif
for (uint8_t xo = 0; xo <= xlen; xo++)
for (uint8_t yo = 0; yo <= ylen; yo++) {
uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
#ifndef HALF_IN_X
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const uint8_t x1 = ctrx1 - xo;
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#endif
#ifndef HALF_IN_Y
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const uint8_t y1 = ctry1 - yo;
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
#ifndef HALF_IN_X
extrapolate_one_point(x1, y1, +1, +1); // left-below + +
#endif
extrapolate_one_point(x2, y1, -1, +1); // right-below - +
#endif
#ifndef HALF_IN_X
extrapolate_one_point(x1, y2, +1, -1); // left-above + -
#endif
extrapolate_one_point(x2, y2, -1, -1); // right-above - -
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
}
Improve Bilinear Grid - Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
2016-09-27 04:38:03 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
}
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
Reduce code size (40b, or 166b with bilinear subdivision)
2016-12-23 16:00:04 +00:00
static void print_bilinear_leveling_grid() {
SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
Reduce code size (40b, or 166b with bilinear subdivision)
2016-12-23 16:00:04 +00:00
);
}
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
Reduce code size (40b, or 166b with bilinear subdivision)
2016-12-23 16:00:04 +00:00
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
#define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
int bilinear_grid_spacing_virt[2] = { 0 };
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
float bilinear_grid_factor_virt[2] = { 0 };
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
static void bed_level_virt_print() {
SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
Reduce code size (40b, or 166b with bilinear subdivision)
2016-12-23 16:00:04 +00:00
print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
[](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
Reduce code size (40b, or 166b with bilinear subdivision)
2016-12-23 16:00:04 +00:00
);
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
}
Reduce code size (40b, or 166b with bilinear subdivision)
2016-12-23 16:00:04 +00:00
Reduce memory use by ABL_BILINEAR_SUBDIVISION slightly
2016-12-23 14:02:39 +00:00
#define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
uint8_t ep = 0, ip = 1;
if (!x || x == ABL_TEMP_POINTS_X - 1) {
if (x) {
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
ep = GRID_MAX_POINTS_X - 1;
ip = GRID_MAX_POINTS_X - 2;
Reduce memory use by ABL_BILINEAR_SUBDIVISION slightly
2016-12-23 14:02:39 +00:00
}
Add and apply WITHIN macro
2017-03-31 14:00:49 +00:00
if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
Reduce memory use by ABL_BILINEAR_SUBDIVISION slightly
2016-12-23 14:02:39 +00:00
return LINEAR_EXTRAPOLATION(
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
z_values[ep][y - 1],
z_values[ip][y - 1]
Reduce memory use by ABL_BILINEAR_SUBDIVISION slightly
2016-12-23 14:02:39 +00:00
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(ep + 1, y),
bed_level_virt_coord(ip + 1, y)
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
);
}
Reduce memory use by ABL_BILINEAR_SUBDIVISION slightly
2016-12-23 14:02:39 +00:00
if (!y || y == ABL_TEMP_POINTS_Y - 1) {
if (y) {
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
ep = GRID_MAX_POINTS_Y - 1;
ip = GRID_MAX_POINTS_Y - 2;
Reduce memory use by ABL_BILINEAR_SUBDIVISION slightly
2016-12-23 14:02:39 +00:00
}
Add and apply WITHIN macro
2017-03-31 14:00:49 +00:00
if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
Reduce memory use by ABL_BILINEAR_SUBDIVISION slightly
2016-12-23 14:02:39 +00:00
return LINEAR_EXTRAPOLATION(
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
z_values[x - 1][ep],
z_values[x - 1][ip]
Reduce memory use by ABL_BILINEAR_SUBDIVISION slightly
2016-12-23 14:02:39 +00:00
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(x, ep + 1),
bed_level_virt_coord(x, ip + 1)
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
);
}
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
return z_values[x - 1][y - 1];
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
}
Reduce code size (40b, or 166b with bilinear subdivision)
2016-12-23 16:00:04 +00:00
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
return (
p[i-1] * -t * sq(1 - t)
+ p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
+ p[i+1] * t * (1 + 4 * t - 3 * sq(t))
- p[i+2] * sq(t) * (1 - t)
) * 0.5;
}
Reduce code size (40b, or 166b with bilinear subdivision)
2016-12-23 16:00:04 +00:00
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
float row[4], column[4];
for (uint8_t i = 0; i < 4; i++) {
Reduce memory use by ABL_BILINEAR_SUBDIVISION slightly
2016-12-23 14:02:39 +00:00
for (uint8_t j = 0; j < 4; j++) {
column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
}
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
row[i] = bed_level_virt_cmr(column, 1, ty);
}
return bed_level_virt_cmr(row, 1, tx);
}
Reduce code size (40b, or 166b with bilinear subdivision)
2016-12-23 16:00:04 +00:00
Save ABL Bilinear Grid to EEPROM
2016-12-10 06:17:49 +00:00
void bed_level_virt_interpolate() {
Init bed_level_virt_interpolate on EEPROM load
2017-04-02 14:55:38 +00:00
bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1))
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
continue;
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
bed_level_virt_2cmr(
x + 1,
y + 1,
(float)tx / (BILINEAR_SUBDIVISIONS),
(float)ty / (BILINEAR_SUBDIVISIONS)
);
}
}
#endif // ABL_BILINEAR_SUBDIVISION
Add a method to refresh bilinear bed level after a change
2017-04-22 03:45:02 +00:00
// Refresh after other values have been updated
void refresh_bed_level() {
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
Add a method to refresh bilinear bed level after a change
2017-04-22 03:45:02 +00:00
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
}
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#endif // AUTO_BED_LEVELING_BILINEAR
Patch G30 to use raise_z_for_servo (PR#73)
2015-08-11 23:04:40 +00:00
Clean up, document home_axis
2015-04-01 08:44:13 +00:00
/**
Adjust comments, spacing
2016-09-15 18:34:24 +00:00
* Home an individual linear axis
Clean up, document home_axis
2015-04-01 08:44:13 +00:00
*/
const argument in do_homing_move
2016-09-21 22:37:36 +00:00
static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.0) {
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
SERIAL_ECHOPAIR(", ", distance);
SERIAL_ECHOPAIR(", ", fr_mm_s);
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
Only deploy/stow BLTOUCH on downward move
2016-09-22 19:27:22 +00:00
if (deploy_bltouch) set_bltouch_deployed(true);
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
#endif
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
#if QUIET_PROBING
if (axis == Z_AXIS) probing_pause(true);
#endif
Patch do_homing_move for SCARA
2016-09-21 23:35:40 +00:00
// Tell the planner we're at Z=0
Marlin patches for homing, esp. Delta
2016-08-28 00:53:02 +00:00
current_position[axis] = 0;
Patch do_homing_move for SCARA
2016-09-21 23:35:40 +00:00
#if IS_SCARA
SYNC_PLAN_POSITION_KINEMATIC();
current_position[axis] = distance;
inverse_kinematics(current_position);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
#else
sync_plan_position();
current_position[axis] = distance;
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
#endif
line_to_axis_pos => do_homing_move
2016-08-19 06:11:41 +00:00
stepper.synchronize();
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
#if QUIET_PROBING
if (axis == Z_AXIS) probing_pause(false);
#endif
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
Only deploy/stow BLTOUCH on downward move
2016-09-22 19:27:22 +00:00
if (deploy_bltouch) set_bltouch_deployed(false);
Adjust BLTouch probe behavior Addressing #4855 - Have the pin deploy only immediately before probing - Have the pin retract immediately after every probe
2016-09-20 19:37:18 +00:00
#endif
Marlin patches for homing, esp. Delta
2016-08-28 00:53:02 +00:00
endstops.hit_on_purpose();
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
line_to_axis_pos => do_homing_move
2016-08-19 06:11:41 +00:00
}
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
/**
* TMC2130 specific sensorless homing using stallGuard2.
* stallGuard2 only works when in spreadCycle mode.
* spreadCycle and stealthChop are mutually exclusive.
*/
#if ENABLED(SENSORLESS_HOMING)
void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true) {
#if ENABLED(STEALTHCHOP)
if (enable) {
st.coolstep_min_speed(1024UL * 1024UL - 1UL);
st.stealthChop(0);
}
else {
st.coolstep_min_speed(0);
st.stealthChop(1);
}
#endif
st.diag1_stall(enable ? 1 : 0);
}
#endif
Document homeaxis
2016-09-15 18:22:23 +00:00
/**
* Home an individual "raw axis" to its endstop.
* This applies to XYZ on Cartesian and Core robots, and
* to the individual ABC steppers on DELTA and SCARA.
*
* At the end of the procedure the axis is marked as
* homed and the current position of that axis is updated.
* Kinematic robots should wait till all axes are homed
* before updating the current position.
*/
Clean up, document home_axis
2015-04-01 08:44:13 +00:00
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
static void homeaxis(const AxisEnum axis) {
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
SCARA support in homeaxis
2016-09-15 20:43:06 +00:00
#if IS_SCARA
// Only Z homing (with probe) is permitted
if (axis != Z_AXIS) { BUZZ(100, 880); return; }
#else
#define CAN_HOME(A) \
(axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
#endif
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(LEVELING)) {
Augment debug/homing logging
2016-08-19 06:09:03 +00:00
SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
SERIAL_CHAR(')');
SERIAL_EOL;
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
}
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Added servo actuated enstop coding to allow G28 command to engage and retract a servo to specified angles.
2013-06-06 14:36:52 +00:00
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const int axis_home_dir =
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
(axis == X_AXIS) ? x_home_dir(active_extruder) :
Patch G28 servo stow to use Conditionals, raise_z_after_probing
2016-06-02 02:48:17 +00:00
#endif
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
home_dir(axis);
Simplify `homeaxis` with some macros
2016-03-31 00:19:54 +00:00
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
// Homing Z towards the bed? Deploy the Z probe or endstop.
Add HOMING_Z_WITH_PROBE conditional
2016-08-30 18:29:13 +00:00
#if HOMING_Z_WITH_PROBE
Clean up serial out code
2016-09-12 22:49:35 +00:00
if (axis == Z_AXIS && DEPLOY_PROBE()) return;
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
#endif
Make raise for probe deploy relative in homeaxis() Make raise for probe deploy relative in homeaxis() by setting `current_position[axis]` to zero later.
2016-07-05 08:42:33 +00:00
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
// Set a flag for Z motor locking
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) stepper.set_homing_flag(true);
#endif
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
#endif
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
#endif
#endif
No homing bump if bump distance is 0 (or less)
2016-09-22 11:23:46 +00:00
// Fast move towards endstop until triggered
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
#endif
No homing bump if bump distance is 0 (or less)
2016-09-22 11:23:46 +00:00
do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
Use probe clearance for bump when homing Z with probe
2016-09-22 20:21:53 +00:00
// When homing Z with probe respect probe clearance
const float bump = axis_home_dir * (
#if HOMING_Z_WITH_PROBE
(axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
#endif
home_bump_mm(axis)
);
No homing bump if bump distance is 0 (or less)
2016-09-22 11:23:46 +00:00
// If a second homing move is configured...
if (bump) {
// Move away from the endstop by the axis HOME_BUMP_MM
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
#endif
No homing bump if bump distance is 0 (or less)
2016-09-22 11:23:46 +00:00
do_homing_move(axis, -bump);
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
No homing bump if bump distance is 0 (or less)
2016-09-22 11:23:46 +00:00
// Slow move towards endstop until triggered
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
#endif
No homing bump if bump distance is 0 (or less)
2016-09-22 11:23:46 +00:00
do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
}
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
float adj = fabs(z_endstop_adj);
bool lockZ1;
if (axis_home_dir > 0) {
adj = -adj;
lockZ1 = (z_endstop_adj > 0);
}
else
lockZ1 = (z_endstop_adj < 0);
Clean up, document home_axis
2015-04-01 08:44:13 +00:00
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
Clean up, document home_axis
2015-04-01 08:44:13 +00:00
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
// Move to the adjusted endstop height
line_to_axis_pos => do_homing_move
2016-08-19 06:11:41 +00:00
do_homing_move(axis, adj);
Clean up, document home_axis
2015-04-01 08:44:13 +00:00
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
stepper.set_homing_flag(false);
} // Z_AXIS
#endif
New Feature: Z_DUAL_ENDSTOPS Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper. That way the machine is capable to align the bed during home, since both Z steppers are homed. There is also an implementation of M666 (software endstops adjustment) to this feature. After Z homing, this adjustment is applied to just one of the steppers in order to align the bed. One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2. If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive. Play a little bit with small adjustments (0.5mm) and check the behaviour. The M119 (endstops report) will start reporting the Z2 Endstop as well.
2015-03-24 17:06:44 +00:00
SCARA support in homeaxis
2016-09-15 20:43:06 +00:00
#if IS_SCARA
set_axis_is_at_home(axis);
SYNC_PLAN_POSITION_KINEMATIC();
#elif ENABLED(DELTA)
// Delta has already moved all three towers up in G28
// so here it re-homes each tower in turn.
// Delta homing treats the axes as normal linear axes.
Marlin patches for homing, esp. Delta
2016-08-28 00:53:02 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
// retrace by the amount specified in endstop_adj + additional 0.1mm in order to have minimum steps
if (endstop_adj[axis] * Z_HOME_DIR <= 0) {
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:");
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
#endif
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
do_homing_move(axis, endstop_adj[axis] - 0.1);
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
}
Use sync_plan_position_delta where needed
2016-06-21 23:17:48 +00:00
Marlin patches for homing, esp. Delta
2016-08-28 00:53:02 +00:00
#else
Clean up, document home_axis
2015-04-01 08:44:13 +00:00
Homing/probing feedrate, comments
2016-09-21 21:47:12 +00:00
// For cartesian/core machines,
// set the axis to its home position
Marlin patches for homing, esp. Delta
2016-08-28 00:53:02 +00:00
set_axis_is_at_home(axis);
sync_plan_position();
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
Marlin patches for homing, esp. Delta
2016-08-28 00:53:02 +00:00
destination[axis] = current_position[axis];
Added servo actuated enstop coding to allow G28 command to engage and retract a servo to specified angles.
2013-06-06 14:36:52 +00:00
Marlin patches for homing, esp. Delta
2016-08-28 00:53:02 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
#endif
#endif
Stow z on M402 without extra raise
2015-04-29 02:10:07 +00:00
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
#endif
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
#endif
#endif
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
// Put away the Z probe
Minor cleanup of homeaxis, etc.
2016-08-30 06:40:29 +00:00
#if HOMING_Z_WITH_PROBE
Clean up serial out code
2016-09-12 22:49:35 +00:00
if (axis == Z_AXIS && STOW_PROBE()) return;
homeaxis() can leave early when no known axis needs to be homed. Most changes are only caused from altering the indentation. ``` if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { ... } to if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; ... ```
2016-07-08 13:59:33 +00:00
#endif
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(LEVELING)) {
Augment debug/homing logging
2016-08-19 06:09:03 +00:00
SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
SERIAL_CHAR(')');
SERIAL_EOL;
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
}
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Tweak some code comments
2016-08-19 06:12:41 +00:00
} // homeaxis()
restore Branch from Backup sorry for that
2014-06-23 15:09:57 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(FWRETRACT)
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
void retract(const bool retracting, const bool swapping = false) {
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
Prevent retract un-hop at wrong height
2016-12-13 16:23:43 +00:00
static float hop_height;
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
if (retracting == retracted[active_extruder]) return;
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float old_feedrate_mm_s = feedrate_mm_s;
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
Fix manage_inactivity - Document `manage_inactivity` function - Allow `EXTRUDER_RUNOUT_PREVENT` to work with all extruders - Use faster `memcpy` for copying coordinates
2015-04-04 06:42:50 +00:00
set_destination_to_current();
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
if (retracting) {
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
feedrate_mm_s = retract_feedrate_mm_s;
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
Use sync_plan_position_e function elsewhere
2016-04-20 20:02:19 +00:00
sync_plan_position_e();
Clarify names of prepare_move functions
2016-06-11 02:23:41 +00:00
prepare_move_to_destination();
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
if (retract_zlift > 0.01) {
Prevent retract un-hop at wrong height
2016-12-13 16:23:43 +00:00
hop_height = current_position[Z_AXIS];
// Pretend current position is lower
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
current_position[Z_AXIS] -= retract_zlift;
Use a macro for kinematic sync_plan_position
2016-06-22 01:56:25 +00:00
SYNC_PLAN_POSITION_KINEMATIC();
Prevent retract un-hop at wrong height
2016-12-13 16:23:43 +00:00
// Raise up to the old current_position
Clarify names of prepare_move functions
2016-06-11 02:23:41 +00:00
prepare_move_to_destination();
Possible fix for FWRETRACT with 0 zlift.
2015-01-09 20:33:02 +00:00
}
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
}
else {
Fix FWRetract with positive z-moves during retracted state
2017-05-09 11:54:57 +00:00
// If the height hasn't been lowered, undo the Z hop
if (retract_zlift > 0.01 && hop_height <= current_position[Z_AXIS]) {
Prevent retract un-hop at wrong height
2016-12-13 16:23:43 +00:00
// Pretend current position is higher. Z will lower on the next move
Fix typo in Marlin_main.cpp related to current_position[Z_AXIS] and retract_zlift. '+ =' -> '+=' Fix for #1786
2015-04-02 12:50:31 +00:00
current_position[Z_AXIS] += retract_zlift;
Use a macro for kinematic sync_plan_position
2016-06-22 01:56:25 +00:00
SYNC_PLAN_POSITION_KINEMATIC();
Fix broken fwretract recovery extruder feedrate When both lowering and recovery are performed using the same "prepare_move_to_destination()" the extruder recovery feedrate ends up being ignored and, instead, is only capped by either the maximum e-speed or the time it takes to perform the z-lowering. Performing the two moves separately from each other ensures a correct recovery feedrate.
2017-05-04 09:34:28 +00:00
// Lower Z
prepare_move_to_destination();
Implementation of FW extruder change retract FW retraction is extended onto swap retraction invoked by 'G10 S1'. Bookkeeping of the retract state of all extruders allows for having one extruder fw standard retracted while another extruder is swap retracted. An LCD menu item for the swap retract and recover length was added.
2014-06-02 15:02:10 +00:00
}
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
feedrate_mm_s = retract_recover_feedrate_mm_s;
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
Use sync_plan_position_e function elsewhere
2016-04-20 20:02:19 +00:00
sync_plan_position_e();
Prevent retract un-hop at wrong height
2016-12-13 16:23:43 +00:00
Fix broken fwretract recovery extruder feedrate When both lowering and recovery are performed using the same "prepare_move_to_destination()" the extruder recovery feedrate ends up being ignored and, instead, is only capped by either the maximum e-speed or the time it takes to perform the z-lowering. Performing the two moves separately from each other ensures a correct recovery feedrate.
2017-05-04 09:34:28 +00:00
// Recover E
Clarify names of prepare_move functions
2016-06-11 02:23:41 +00:00
prepare_move_to_destination();
Fix autoretract This takes the (now working) G10/G11 code and moves it to a function, which is called by G10 and G11, and also called by G1 if autoretract is enabled and a retract/recover move is detected.
2014-02-17 02:59:04 +00:00
}
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
feedrate_mm_s = old_feedrate_mm_s;
Fix typo in FWRETRACT handler Should be `retracting` and not `retract`
2015-04-07 00:04:22 +00:00
retracted[active_extruder] = retracting;
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
} // retract()
#endif // FWRETRACT
Move FWRETRACT defaults to configuration_adv.h
2014-02-17 03:00:28 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(MIXING_EXTRUDER)
void normalize_mix() {
float mix_total = 0.0;
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// Scale all values if they don't add up to ~1.0
Store Mix factors as reciprocals and multiply
2016-11-12 20:33:07 +00:00
if (!NEAR(mix_total, 1.0)) {
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
}
}
#if ENABLED(DIRECT_MIXING_IN_G1)
// Get mixing parameters from the GCode
// The total "must" be 1.0 (but it will be normalized)
Fix DIRECT_MIXING_IN_G1 to preserve the previous mix
2016-11-15 21:50:54 +00:00
// If no mix factors are given, the old mix is preserved
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
void gcode_get_mix() {
const char* mixing_codes = "ABCDHI";
Fix DIRECT_MIXING_IN_G1 to preserve the previous mix
2016-11-15 21:50:54 +00:00
byte mix_bits = 0;
for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
if (code_seen(mixing_codes[i])) {
SBI(mix_bits, i);
float v = code_value_float();
NOLESS(v, 0.0);
mixing_factor[i] = RECIPROCAL(v);
}
}
// If any mixing factors were included, clear the rest
// If none were included, preserve the last mix
if (mix_bits) {
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0;
normalize_mix();
Store Mix factors as reciprocals and multiply
2016-11-12 20:33:07 +00:00
}
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
}
#endif
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
* ***************************************************************************
* ***************************** G-CODE HANDLING *****************************
* ***************************************************************************
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Consolidate arc code, remove motion_control.*
2015-05-14 01:52:41 +00:00
/**
* Set XYZE destination and feedrate from the current GCode command
*
* - Set destination from included axis codes
* - Set to current for missing axis codes
* - Set the feedrate, if included
*/
void gcode_get_destination() {
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZE(i) {
Consolidate arc code, remove motion_control.*
2015-05-14 01:52:41 +00:00
if (code_seen(axis_codes[i]))
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
destination[i] = code_value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
Consolidate arc code, remove motion_control.*
2015-05-14 01:52:41 +00:00
else
destination[i] = current_position[i];
}
Adds filamentUsed and longestPrint stats to PrintCounter
2016-07-14 01:18:59 +00:00
Reduce code size by trusting the compiler
2016-07-09 23:25:48 +00:00
if (code_seen('F') && code_value_linear_units() > 0.0)
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
Adds filamentUsed and longestPrint stats to PrintCounter
2016-07-14 01:18:59 +00:00
#if ENABLED(PRINTCOUNTER)
Append units to feedrate variables
2016-07-16 01:49:34 +00:00
if (!DEBUGGING(DRYRUN))
Adds filamentUsed and longestPrint stats to PrintCounter
2016-07-14 01:18:59 +00:00
print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
#endif
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// Get ABCDHI mixing factors
#if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
gcode_get_mix();
#endif
Consolidate arc code, remove motion_control.*
2015-05-14 01:52:41 +00:00
}
Further optimization of command parser
2015-05-17 12:00:09 +00:00
void unknown_command_error() {
SERIAL_ECHO_START;
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, current_command);
Replace single-char S_ECHOs with S_CHAR
2016-10-03 21:23:41 +00:00
SERIAL_CHAR('"');
SERIAL_EOL;
Further optimization of command parser
2015-05-17 12:00:09 +00:00
}
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
#if ENABLED(HOST_KEEPALIVE_FEATURE)
Send a busy signal every 10 seconds instead of every 2
2016-03-26 01:36:21 +00:00
/**
* Output a "busy" message at regular intervals
* while the machine is not accepting commands.
*/
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
void host_keepalive() {
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const millis_t ms = millis();
Adjust timeout code in host_keepalive
2016-04-09 23:58:17 +00:00
if (host_keepalive_interval && busy_state != NOT_BUSY) {
Test time difference in safe way
2016-04-10 22:55:12 +00:00
if (PENDING(ms, next_busy_signal_ms)) return;
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
switch (busy_state) {
case IN_HANDLER:
case IN_PROCESS:
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
break;
case PAUSED_FOR_USER:
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
break;
case PAUSED_FOR_INPUT:
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
break;
suppress warnings
2016-04-02 21:28:17 +00:00
default:
break;
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
}
}
Test time difference in safe way
2016-04-10 22:55:12 +00:00
next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
}
Patch #else / #endif comments
2017-05-09 17:35:43 +00:00
#endif // HOST_KEEPALIVE_FEATURE
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
Add position_is_reachable, use in home_z_safely
2016-09-12 03:21:32 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**************************************************
***************** GCode Handlers *****************
**************************************************/
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* G0, G1: Coordinated movement of X Y Z E axes
*/
G0 direct move for SCARA
2016-09-15 19:15:08 +00:00
inline void gcode_G0_G1(
#if IS_SCARA
bool fast_move=false
#endif
) {
IsStopped / IsRunning inline
2015-04-08 07:56:19 +00:00
if (IsRunning()) {
Consolidate arc code, remove motion_control.*
2015-05-14 01:52:41 +00:00
gcode_get_destination(); // For X Y Z E F
Naming and code comments
2015-04-14 00:17:36 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(FWRETRACT)
Naming and code comments
2015-04-14 00:17:36 +00:00
if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float echange = destination[E_AXIS] - current_position[E_AXIS];
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
// Is this move an attempt to retract or recover?
if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
Use sync_plan_position_e function elsewhere
2016-04-20 20:02:19 +00:00
sync_plan_position_e(); // AND from the planner
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
retract(!retracted[active_extruder]);
return;
}
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Naming and code comments
2015-04-14 00:17:36 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif //FWRETRACT
Naming and code comments
2015-04-14 00:17:36 +00:00
G0 direct move for SCARA
2016-09-15 19:15:08 +00:00
#if IS_SCARA
fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
#else
prepare_move_to_destination();
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
}
/**
* G2: Clockwise Arc
* G3: Counterclockwise Arc
Add support for G2/G3 with R parameter
2016-09-19 01:23:01 +00:00
*
* This command has two forms: IJ-form and R-form.
*
* - I specifies an X offset. J specifies a Y offset.
* At least one of the IJ parameters is required.
* X and Y can be omitted to do a complete circle.
* The given XY is not error-checked. The arc ends
* based on the angle of the destination.
* Mixing I or J with R will throw an error.
*
* - R specifies the radius. X or Y is required.
* Omitting both X and Y will throw an error.
* X or Y must differ from the current XY.
* Mixing R with I or J will throw an error.
*
* Examples:
*
* G2 I10 ; CW circle centered at X+10
* G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
#if ENABLED(ARC_SUPPORT)
inline void gcode_G2_G3(bool clockwise) {
if (IsRunning()) {
Consolidate arc code, remove motion_control.*
2015-05-14 01:52:41 +00:00
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
#if ENABLED(SF_ARC_FIX)
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const bool relative_mode_backup = relative_mode;
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
relative_mode = true;
#endif
Consolidate arc code, remove motion_control.*
2015-05-14 01:52:41 +00:00
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
gcode_get_destination();
Consolidate arc code, remove motion_control.*
2015-05-14 01:52:41 +00:00
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
#if ENABLED(SF_ARC_FIX)
relative_mode = relative_mode_backup;
#endif
Consolidate arc code, remove motion_control.*
2015-05-14 01:52:41 +00:00
Add support for G2/G3 with R parameter
2016-09-19 01:23:01 +00:00
float arc_offset[2] = { 0.0, 0.0 };
if (code_seen('R')) {
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
const float r = code_value_linear_units(),
Add support for G2/G3 with R parameter
2016-09-19 01:23:01 +00:00
x1 = current_position[X_AXIS], y1 = current_position[Y_AXIS],
x2 = destination[X_AXIS], y2 = destination[Y_AXIS];
if (r && (x2 != x1 || y2 != y1)) {
Fix for G2/G3 negative radius As suggested in #4940
2016-10-03 19:48:44 +00:00
const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
Add support for G2/G3 with R parameter
2016-09-19 01:23:01 +00:00
dx = x2 - x1, dy = y2 - y1, // X and Y differences
d = HYPOT(dx, dy), // Linear distance between the points
h = sqrt(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
mx = (x1 + x2) * 0.5, my = (y1 + y2) * 0.5, // Point between the two points
sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
arc_offset[X_AXIS] = cx - x1;
arc_offset[Y_AXIS] = cy - y1;
}
}
else {
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
if (code_seen('I')) arc_offset[X_AXIS] = code_value_linear_units();
if (code_seen('J')) arc_offset[Y_AXIS] = code_value_linear_units();
Add support for G2/G3 with R parameter
2016-09-19 01:23:01 +00:00
}
Consolidate arc code, remove motion_control.*
2015-05-14 01:52:41 +00:00
Add support for G2/G3 with R parameter
2016-09-19 01:23:01 +00:00
if (arc_offset[0] || arc_offset[1]) {
// Send an arc to the planner
plan_arc(destination, arc_offset, clockwise);
refresh_cmd_timeout();
}
else {
// Bad arguments
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
}
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* G4: Dwell S<seconds> or P<milliseconds>
*/
inline void gcode_G4() {
codenum => dwell_ms
2016-07-14 23:39:49 +00:00
millis_t dwell_ms = 0;
Bed Auto Leveling feature Check the Readme for instruction how to enable and configure the feature
2013-09-29 16:20:06 +00:00
codenum => dwell_ms
2016-07-14 23:39:49 +00:00
if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
refresh_cmd_timeout();
codenum => dwell_ms
2016-07-14 23:39:49 +00:00
dwell_ms += previous_cmd_ms; // keep track of when we started waiting
G4 shows status message only if no message is set already - Address issue raised in #1961
2015-04-25 03:13:01 +00:00
if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
codenum => dwell_ms
2016-07-14 23:39:49 +00:00
while (PENDING(millis(), dwell_ms)) idle();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Add BEZIER_CURVE_SUPPORT (G5 XYZEFIJPQ)
2016-05-12 20:33:47 +00:00
#if ENABLED(BEZIER_CURVE_SUPPORT)
/**
* Parameters interpreted according to:
* http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
* However I, J omission is not supported at this point; all
* parameters can be omitted and default to zero.
*/
/**
* G5: Cubic B-spline
*/
inline void gcode_G5() {
if (IsRunning()) {
gcode_get_destination();
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float offset[] = {
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
code_seen('I') ? code_value_linear_units() : 0.0,
code_seen('J') ? code_value_linear_units() : 0.0,
code_seen('P') ? code_value_linear_units() : 0.0,
code_seen('Q') ? code_value_linear_units() : 0.0
Add BEZIER_CURVE_SUPPORT (G5 XYZEFIJPQ)
2016-05-12 20:33:47 +00:00
};
plan_cubic_move(offset);
}
}
#endif // BEZIER_CURVE_SUPPORT
Add `G7` gcode command to move between UBL mesh points - can be augmented in the future to enable for other leveling systems Quite simple, but did not want to modify `G1` as the additional checking would slow it down. Tested & working.
2017-05-17 23:03:00 +00:00
#if ENABLED(AUTO_BED_LEVELING_UBL) //todo: enable for other leveling systems?
/**
* G7: Move X & Y axes to mesh coordinates
*/
inline void gcode_G7(
#if IS_SCARA
bool fast_move=false
#endif
) {
if (IsRunning()) {
Add checking
2017-05-17 23:46:16 +00:00
const bool hasI = code_seen('I');
const int8_t ix = code_has_value() ? code_value_int() : 0;
const bool hasJ = code_seen('J');
const int8_t iy = code_has_value() ? code_value_int() : 0;
if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) {
SERIAL_ECHOLNPGM(MSG_ERR_MESH_XY);
return;
}
destination[X_AXIS] = hasI ? pgm_read_float(&ubl.mesh_index_to_xpos[ix]) : current_position[X_AXIS];
destination[Y_AXIS] = hasJ ? pgm_read_float(&ubl.mesh_index_to_ypos[iy]) : current_position[Y_AXIS];
Add `G7` gcode command to move between UBL mesh points - can be augmented in the future to enable for other leveling systems Quite simple, but did not want to modify `G1` as the additional checking would slow it down. Tested & working.
2017-05-17 23:03:00 +00:00
destination[Z_AXIS] = current_position[Z_AXIS]; //todo: perhaps add Z-move support?
destination[E_AXIS] = current_position[E_AXIS];
if (code_seen('F') && code_value_linear_units() > 0.0)
feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
#if IS_SCARA
fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
#else
prepare_move_to_destination();
#endif
}
}
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(FWRETRACT)
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* G10 - Retract filament according to settings of M207
* G11 - Recover filament according to settings of M208
*/
inline void gcode_G10_G11(bool doRetract=false) {
#if EXTRUDERS > 1
if (doRetract) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
retracted_swap[active_extruder] = (code_seen('S') && code_value_bool()); // checks for swap retract argument
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
retract(doRetract
#if EXTRUDERS > 1
, retracted_swap[active_extruder]
#endif
);
}
fix homing for deltas
2013-06-10 04:10:00 +00:00
Patch #else / #endif comments
2017-05-09 17:35:43 +00:00
#endif // FWRETRACT
fix homing for deltas
2013-06-10 04:10:00 +00:00
Nozzle::clean() no longer requires HAS_BED_PROBE
2016-07-19 00:56:14 +00:00
#if ENABLED(NOZZLE_CLEAN_FEATURE)
Implements a nozzle parking command (G27)
2016-07-14 15:29:04 +00:00
/**
* G12: Clean the nozzle
*/
Implements a nozzle cleaning pattern generator (G12)
2016-06-16 04:18:44 +00:00
inline void gcode_G12() {
// Don't allow nozzle cleaning without homing first
More constraint on axis_unhomed_error
2017-05-14 20:57:37 +00:00
if (axis_unhomed_error()) return;
Implements a nozzle cleaning pattern generator (G12)
2016-06-16 04:18:44 +00:00
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const uint8_t pattern = code_seen('P') ? code_value_ushort() : 0,
strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES,
objects = code_seen('T') ? code_value_ushort() : NOZZLE_CLEAN_TRIANGLES;
Added circle pattern for nozzle cleaning feature
2017-02-24 22:41:44 +00:00
const float radius = code_seen('R') ? code_value_float() : NOZZLE_CLEAN_CIRCLE_RADIUS;
Implements a nozzle cleaning pattern generator (G12)
2016-06-16 04:18:44 +00:00
Added circle pattern for nozzle cleaning feature
2017-02-24 22:41:44 +00:00
Nozzle::clean(pattern, strokes, radius, objects);
Implements a nozzle cleaning pattern generator (G12)
2016-06-16 04:18:44 +00:00
}
#endif
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
#if ENABLED(INCH_MODE_SUPPORT)
/**
* G20: Set input mode to inches
*/
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
inline void gcode_G20() { set_input_linear_units(LINEARUNIT_INCH); }
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
/**
* G21: Set input mode to millimeters
*/
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
inline void gcode_G21() { set_input_linear_units(LINEARUNIT_MM); }
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
#endif
Introduce line_to_axis_pos(axis_codes axis, float where, float feed_rate = 0.0) and use it in `homeaxis()` instead of `do_blocking_move_to_axis_pos()`. `do_blocking_move_to_axis_pos` was wrong because it performed subdivided, delta-corrected moves for x- and y-axis. The first common move for delta homing is like quick_home but for 3 towers. Fix two warnings.
2016-07-19 15:24:44 +00:00
#if ENABLED(NOZZLE_PARK_FEATURE)
/**
* G27: Park the nozzle
*/
inline void gcode_G27() {
// Don't allow nozzle parking without homing first
More constraint on axis_unhomed_error
2017-05-14 20:57:37 +00:00
if (axis_unhomed_error()) return;
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
Nozzle::park(code_seen('P') ? code_value_ushort() : 0);
Introduce line_to_axis_pos(axis_codes axis, float where, float feed_rate = 0.0) and use it in `homeaxis()` instead of `do_blocking_move_to_axis_pos()`. `do_blocking_move_to_axis_pos` was wrong because it performed subdivided, delta-corrected moves for x- and y-axis. The first common move for delta homing is like quick_home but for 3 towers. Fix two warnings.
2016-07-19 15:24:44 +00:00
}
#endif // NOZZLE_PARK_FEATURE
Don't re-home X and Y if you quick homed
2016-07-06 03:10:15 +00:00
#if ENABLED(QUICK_HOME)
static void quick_home_xy() {
Introduce line_to_axis_pos(axis_codes axis, float where, float feed_rate = 0.0) and use it in `homeaxis()` instead of `do_blocking_move_to_axis_pos()`. `do_blocking_move_to_axis_pos` was wrong because it performed subdivided, delta-corrected moves for x- and y-axis. The first common move for delta homing is like quick_home but for 3 towers. Fix two warnings.
2016-07-19 15:24:44 +00:00
// Pretend the current position is 0,0
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
sync_plan_position();
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const int x_axis_home_dir =
Implement DUAL_NOZZLE_DUPLICATION_MODE
2016-07-20 17:30:10 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
x_home_dir(active_extruder)
#else
home_dir(X_AXIS)
#endif
;
Don't re-home X and Y if you quick homed
2016-07-06 03:10:15 +00:00
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float mlx = max_length(X_AXIS),
mly = max_length(Y_AXIS),
mlratio = mlx > mly ? mly / mlx : mlx / mly,
fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
Don't re-home X and Y if you quick homed
2016-07-06 03:10:15 +00:00
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
Don't re-home X and Y if you quick homed
2016-07-06 03:10:15 +00:00
endstops.hit_on_purpose(); // clear endstop hit flags
Introduce line_to_axis_pos(axis_codes axis, float where, float feed_rate = 0.0) and use it in `homeaxis()` instead of `do_blocking_move_to_axis_pos()`. `do_blocking_move_to_axis_pos` was wrong because it performed subdivided, delta-corrected moves for x- and y-axis. The first common move for delta homing is like quick_home but for 3 towers. Fix two warnings.
2016-07-19 15:24:44 +00:00
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
Don't re-home X and Y if you quick homed
2016-07-06 03:10:15 +00:00
}
#endif // QUICK_HOME
Log machine info in G28 and G29
2016-08-29 01:45:18 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
void log_machine_info() {
SERIAL_ECHOPGM("Machine Type: ");
#if ENABLED(DELTA)
SERIAL_ECHOLNPGM("Delta");
Add conditionals for kinematics, leveling
2016-09-12 01:11:30 +00:00
#elif IS_SCARA
Log machine info in G28 and G29
2016-08-29 01:45:18 +00:00
SERIAL_ECHOLNPGM("SCARA");
Implement reversed CORE options
2016-11-06 04:47:38 +00:00
#elif IS_CORE
Log machine info in G28 and G29
2016-08-29 01:45:18 +00:00
SERIAL_ECHOLNPGM("Core");
#else
SERIAL_ECHOLNPGM("Cartesian");
#endif
SERIAL_ECHOPGM("Probe: ");
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
#if ENABLED(PROBE_MANUALLY)
SERIAL_ECHOLNPGM("PROBE_MANUALLY");
#elif ENABLED(FIX_MOUNTED_PROBE)
Log machine info in G28 and G29
2016-08-29 01:45:18 +00:00
SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
#elif ENABLED(BLTOUCH)
SERIAL_ECHOLNPGM("BLTOUCH");
Say "BLTOUCH" in machine info report
2016-09-30 02:28:23 +00:00
#elif HAS_Z_SERVO_ENDSTOP
SERIAL_ECHOLNPGM("SERVO PROBE");
Log machine info in G28 and G29
2016-08-29 01:45:18 +00:00
#elif ENABLED(Z_PROBE_SLED)
SERIAL_ECHOLNPGM("Z_PROBE_SLED");
#elif ENABLED(Z_PROBE_ALLEN_KEY)
SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
#else
SERIAL_ECHOLNPGM("NONE");
#endif
#if HAS_BED_PROBE
SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
#if (X_PROBE_OFFSET_FROM_EXTRUDER > 0)
SERIAL_ECHOPGM(" (Right");
#elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0)
SERIAL_ECHOPGM(" (Left");
Fix nozzle position description
2016-09-15 18:06:00 +00:00
#elif (Y_PROBE_OFFSET_FROM_EXTRUDER != 0)
SERIAL_ECHOPGM(" (Middle");
#else
SERIAL_ECHOPGM(" (Aligned With");
Log machine info in G28 and G29
2016-08-29 01:45:18 +00:00
#endif
#if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0)
SERIAL_ECHOPGM("-Back");
#elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0)
SERIAL_ECHOPGM("-Front");
Fix nozzle position description
2016-09-15 18:06:00 +00:00
#elif (X_PROBE_OFFSET_FROM_EXTRUDER != 0)
SERIAL_ECHOPGM("-Center");
Log machine info in G28 and G29
2016-08-29 01:45:18 +00:00
#endif
if (zprobe_zoffset < 0)
SERIAL_ECHOPGM(" & Below");
else if (zprobe_zoffset > 0)
SERIAL_ECHOPGM(" & Above");
else
SERIAL_ECHOPGM(" & Same Z as");
SERIAL_ECHOLNPGM(" Nozzle)");
#endif
Add leveling type and details to machine_info
2016-09-27 04:38:52 +00:00
#if HAS_ABL
SERIAL_ECHOPGM("Auto Bed Leveling: ");
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
SERIAL_ECHOPGM("LINEAR");
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
SERIAL_ECHOPGM("BILINEAR");
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
SERIAL_ECHOPGM("3POINT");
UBL implementation
2017-03-18 15:15:54 +00:00
#elif ENABLED(AUTO_BED_LEVELING_UBL)
SERIAL_ECHOPGM("UBL");
Add leveling type and details to machine_info
2016-09-27 04:38:52 +00:00
#endif
if (planner.abl_enabled) {
SERIAL_ECHOLNPGM(" (enabled)");
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
#if ABL_PLANAR
Add leveling type and details to machine_info
2016-09-27 04:38:52 +00:00
float diff[XYZ] = {
stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
};
SERIAL_ECHOPGM("ABL Adjustment X");
if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[X_AXIS]);
SERIAL_ECHOPGM(" Y");
if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[Y_AXIS]);
SERIAL_ECHOPGM(" Z");
if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[Z_AXIS]);
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
#elif ENABLED(AUTO_BED_LEVELING_UBL)
SERIAL_ECHOPAIR("UBL Adjustment Z", stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]);
Add leveling type and details to machine_info
2016-09-27 04:38:52 +00:00
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
SERIAL_ECHOPAIR("ABL Adjustment Z", bilinear_z_offset(current_position));
#endif
}
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
else
SERIAL_ECHOLNPGM(" (disabled)");
Add leveling type and details to machine_info
2016-09-27 04:38:52 +00:00
SERIAL_EOL;
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
Add leveling type and details to machine_info
2016-09-27 04:38:52 +00:00
#elif ENABLED(MESH_BED_LEVELING)
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
Add leveling type and details to machine_info
2016-09-27 04:38:52 +00:00
SERIAL_ECHOPGM("Mesh Bed Leveling");
if (mbl.active()) {
Use apply_leveling, not MBL directly
2016-12-05 07:53:36 +00:00
float lz = current_position[Z_AXIS];
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], lz);
Add leveling type and details to machine_info
2016-09-27 04:38:52 +00:00
SERIAL_ECHOLNPGM(" (enabled)");
Use apply_leveling, not MBL directly
2016-12-05 07:53:36 +00:00
SERIAL_ECHOPAIR("MBL Adjustment Z", lz);
Add leveling type and details to machine_info
2016-09-27 04:38:52 +00:00
}
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
else
SERIAL_ECHOPGM(" (disabled)");
Add leveling type and details to machine_info
2016-09-27 04:38:52 +00:00
SERIAL_EOL;
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
#endif // MESH_BED_LEVELING
Log machine info in G28 and G29
2016-08-29 01:45:18 +00:00
}
#endif // DEBUG_LEVELING_FEATURE
Move delta homing to its own function
2016-09-12 01:25:44 +00:00
#if ENABLED(DELTA)
/**
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
*/
inline void home_delta() {
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
#endif
Move delta homing to its own function
2016-09-12 01:25:44 +00:00
// Init the current position of all carriages to 0,0,0
Add a ZERO macro to clear arrays
2016-10-22 15:07:18 +00:00
ZERO(current_position);
Move delta homing to its own function
2016-09-12 01:25:44 +00:00
sync_plan_position();
// Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
Minor cleanups in Marlin_main.cpp
2016-09-21 22:27:37 +00:00
feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
line_to_current_position();
Move delta homing to its own function
2016-09-12 01:25:44 +00:00
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
// At least one carriage has reached the top.
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
// Now re-home each carriage separately.
Move delta homing to its own function
2016-09-12 01:25:44 +00:00
HOMEAXIS(A);
HOMEAXIS(B);
HOMEAXIS(C);
// Set all carriages to their home positions
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would
// give the impression that they are the same.
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
Move delta homing to its own function
2016-09-12 01:25:44 +00:00
#endif
}
#endif // DELTA
Move z safe homing to its own function
2016-09-12 01:39:39 +00:00
#if ENABLED(Z_SAFE_HOMING)
inline void home_z_safely() {
// Disallow Z homing if X or Y are unknown
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
return;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
#endif
SYNC_PLAN_POSITION_KINEMATIC();
/**
* Move the Z probe (or just the nozzle) to the safe homing point
*/
Add position_is_reachable, use in home_z_safely
2016-09-12 03:21:32 +00:00
destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
#if HOMING_Z_WITH_PROBE
destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
UBL-related cleanup, spacing, standards Reference: #6804
2017-05-21 10:28:38 +00:00
if (position_is_reachable_xy(destination[X_AXIS], destination[Y_AXIS])) {
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
Patch Z safe homing for probe Z homing
2016-09-21 23:38:47 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
#endif
Dual X with home_z_safely is not parked
2016-11-07 06:24:39 +00:00
// This causes the carriage on Dual X to unpark
#if ENABLED(DUAL_X_CARRIAGE)
active_extruder_parked = false;
#endif
Add position_is_reachable, use in home_z_safely
2016-09-12 03:21:32 +00:00
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
Move z safe homing to its own function
2016-09-12 01:39:39 +00:00
HOMEAXIS(Z);
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
#endif
}
#endif // Z_SAFE_HOMING
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if ENABLED(PROBE_MANUALLY)
Implement LCD_BED_LEVELING for PROBE_MANUALLY
2017-03-25 09:43:30 +00:00
bool g29_in_progress = false;
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#else
constexpr bool g29_in_progress = false;
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Fix G28 homing Y with X - Fixed a typo causing G28 to home incorrectly - Added documentation to G28 - Added homeXYZ bools to neaten the code - Added a note about home_offsets being questionable
2015-03-30 01:06:59 +00:00
* G28: Home all axes according to settings
*
* Parameters
*
* None Home to all axes with no parameters.
* With QUICK_HOME enabled XY will home together, then Z.
*
* Cartesian parameters
*
* X Home to the X endstop
* Y Home to the Y endstop
* Z Home to the Z endstop
*
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
inline void gcode_G28(const bool always_home_all) {
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Log machine info in G28 and G29
2016-08-29 01:45:18 +00:00
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> gcode_G28");
log_machine_info();
}
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Always do st_synchronize() before G28
2015-05-12 07:31:51 +00:00
// Wait for planner moves to finish!
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Always do st_synchronize() before G28
2015-05-12 07:31:51 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Cancel the active G29 session
#if ENABLED(PROBE_MANUALLY)
g29_in_progress = false;
#endif
Don't throw away the bed level matrix on G28
2016-12-14 08:41:35 +00:00
// Disable the leveling matrix before homing
Adjust leveling conditionals
2017-05-01 21:13:09 +00:00
#if HAS_LEVELING
misc. UBL fixes (#6631) * Restore LSF functionality Some of the typo's persisted... Hopefully this gets them all fixed. * Restore user's expectations of how G28 should behave * Allow Nozzle size control with ornery host programs
2017-05-07 23:23:48 +00:00
#if ENABLED(AUTO_BED_LEVELING_UBL)
Apply const in Marlin_main.cpp
2017-05-12 04:22:58 +00:00
const bool ubl_state_at_entry = ubl.state.active;
misc. UBL fixes (#6631) * Restore LSF functionality Some of the typo's persisted... Hopefully this gets them all fixed. * Restore user's expectations of how G28 should behave * Allow Nozzle size control with ornery host programs
2017-05-07 23:23:48 +00:00
#endif
Don't throw away the bed level matrix on G28
2016-12-14 08:41:35 +00:00
set_bed_leveling_enabled(false);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
fix homing for deltas
2013-06-10 04:10:00 +00:00
Always switch to tool 0 for G28
2016-07-20 02:37:31 +00:00
// Always home with tool 0 active
#if HOTENDS > 1
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const uint8_t old_tool_index = active_extruder;
Always switch to tool 0 for G28
2016-07-20 02:37:31 +00:00
tool_change(0, 0, true);
#endif
Implement DUAL_NOZZLE_DUPLICATION_MODE
2016-07-20 17:30:10 +00:00
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
extruder_duplication_enabled = false;
#endif
Eliminate `void setup_for_endstop_move()`
2016-07-08 13:23:20 +00:00
setup_for_endstop_or_probe_move();
Ensble/disable hardware endstops in G28 globally. For moving away from the endstops we do not have to disable them. They are not tested anyway.
2016-07-08 13:49:10 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
#endif
endstops.enable(true); // Enable endstops for next homing move
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DELTA)
Marlin patches for homing, esp. Delta
2016-08-28 00:53:02 +00:00
Move delta homing to its own function
2016-09-12 01:25:44 +00:00
home_delta();
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#else // NOT DELTA
Simple code cleanup. Rename "homeing" to homing.
2014-10-05 20:20:53 +00:00
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
const bool homeX = always_home_all || code_seen('X'),
homeY = always_home_all || code_seen('Y'),
homeZ = always_home_all || code_seen('Z'),
home_all = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Don't do_probe_raise with MIN_Z_HEIGHT_FOR_HOMING
2016-07-06 01:32:24 +00:00
set_destination_to_current();
Z_RAISE_BEFORE_HOMING -> MIN_Z_HEIGHT_FOR_HOMING rebased corrected spelling changed to #elif for error Still with MIN_Z_HEIGHT_FOR_HOMING but con be done with (folder wide) search-replace when we have a better name.
2016-03-08 16:50:23 +00:00
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
Apply Z_RAISE_BEFORE_HOMING before homing XY
2015-03-31 03:22:21 +00:00
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
if (home_all || homeZ) {
Homing fixes - Prevent `Z_SAFE_HOMING` from homing Z twice in some cases - Allow `G28` with XYZ values of 0 to explicitly set the position - Don’t add `home_offset` when setting XYZ explicitly in `G28` - Add `code_has_value` function to check for the presence of a numeric value (could just test for space or nul to allow other types of values)
2015-04-12 03:06:48 +00:00
HOMEAXIS(Z);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Reduce string storage required for DEBUG_LEVELING
2016-04-06 02:04:42 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Z_RAISE_BEFORE_HOMING -> MIN_Z_HEIGHT_FOR_HOMING rebased corrected spelling changed to #elif for error Still with MIN_Z_HEIGHT_FOR_HOMING but con be done with (folder wide) search-replace when we have a better name.
2016-03-08 16:50:23 +00:00
}
Apply Z_RAISE_BEFORE_HOMING before homing XY
2015-03-31 03:22:21 +00:00
Always define MIN_Z_HEIGHT_FOR_HOMING even if 0 Always define MIN_Z_HEIGHT_FOR_HOMING even if 0 Always make a potential rise to `home_offset[Z_AXIS]` possible in G28. Get rid of some very ugly constructs in MBL (ultralcd.cpp).
2016-07-08 13:08:32 +00:00
#else
Z-axis was being lift multiple times if Z_SAFE_HOMING was enabled and Z_RAISE_BEFORE_HOMING was greater than zero
2016-03-07 03:49:11 +00:00
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
if (home_all || homeX || homeY) {
Clean up `quick_home_xy()` Since we do the actual homing now in the 'normal' routines `quick_home_xy()` can be simplified to a relative simple diagonal move.
2016-07-08 11:40:38 +00:00
// Raise Z before homing any other axes and z is not already high enough (never lower z)
Z_RAISE_PROBE_* => Z_PROBE_*_HEIGHT
2016-08-04 03:51:05 +00:00
destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
Use do_blicking_move_to*() in G28
2016-07-15 13:02:15 +00:00
if (destination[Z_AXIS] > current_position[Z_AXIS]) {
Don't do_probe_raise with MIN_Z_HEIGHT_FOR_HOMING
2016-07-06 01:32:24 +00:00
Don't raise Z if only homing Z
2016-07-07 19:28:23 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
Don't raise Z if only homing Z
2016-07-07 19:28:23 +00:00
#endif
Don't do_probe_raise with MIN_Z_HEIGHT_FOR_HOMING
2016-07-06 01:32:24 +00:00
Use do_blicking_move_to*() in G28
2016-07-15 13:02:15 +00:00
do_blocking_move_to_z(destination[Z_AXIS]);
Don't raise Z if only homing Z
2016-07-07 19:28:23 +00:00
}
Apply MIN_Z_HEIGHT_FOR_HOMING raise literally
2016-07-07 19:14:54 +00:00
}
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
Always define MIN_Z_HEIGHT_FOR_HOMING even if 0 Always define MIN_Z_HEIGHT_FOR_HOMING even if 0 Always make a potential rise to `home_offset[Z_AXIS]` possible in G28. Get rid of some very ugly constructs in MBL (ultralcd.cpp).
2016-07-08 13:08:32 +00:00
#endif
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(QUICK_HOME)
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
if (home_all || (homeX && homeY)) quick_home_xy();
Clean up, document home_axis
2015-04-01 08:44:13 +00:00
Don't re-home X and Y if you quick homed
2016-07-06 03:10:15 +00:00
#endif
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(HOME_Y_BEFORE_X)
Don't re-home X and Y if you quick homed
2016-07-06 03:10:15 +00:00
Allow Y to home before X with option in Configuration_adv.h. This addresses comments in #1956 and #1079. In particular, this is useful when both endstops are stationary on a CoreXY system, and the Y axis needs to be homed before the X so the flags are aligned.
2015-04-22 20:34:55 +00:00
// Home Y
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
if (home_all || homeY) {
Further cleanup of G28 for probes
2016-06-27 16:01:11 +00:00
HOMEAXIS(Y);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
#endif
}
Don't re-home X and Y if you quick homed
2016-07-06 03:10:15 +00:00
Allow Y to home before X with option in Configuration_adv.h. This addresses comments in #1956 and #1079. In particular, this is useful when both endstops are stationary on a CoreXY system, and the Y axis needs to be homed before the X so the flags are aligned.
2015-04-22 20:34:55 +00:00
#endif
Fix G28 homing Y with X - Fixed a typo causing G28 to home incorrectly - Added documentation to G28 - Added homeXYZ bools to neaten the code - Added a note about home_offsets being questionable
2015-03-30 01:06:59 +00:00
// Home X
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
if (home_all || homeX) {
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
// Always home the 2nd (right) extruder first
active_extruder = 1;
Support dual x-carriage printers Dual x-carriage designs offer some substantial improvements for dual extruder printing.
2013-07-17 12:44:45 +00:00
HOMEAXIS(X);
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
// Remember this extruder's position for later tool change
Fix inactive_extruder_x_pos for coordinate space
2016-07-24 23:35:03 +00:00
inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
// Home the 1st (left) extruder
active_extruder = 0;
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
HOMEAXIS(X);
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
// Consider the active extruder to be parked
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(raised_parked_position, current_position);
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
delayed_move_time = 0;
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
active_extruder_parked = true;
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
#else
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
HOMEAXIS(X);
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
#endif
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Reduce string storage required for DEBUG_LEVELING
2016-04-06 02:04:42 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if DISABLED(HOME_Y_BEFORE_X)
Allow Y to home before X with option in Configuration_adv.h. This addresses comments in #1956 and #1079. In particular, this is useful when both endstops are stationary on a CoreXY system, and the Y axis needs to be homed before the X so the flags are aligned.
2015-04-22 20:34:55 +00:00
// Home Y
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
if (home_all || homeY) {
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
HOMEAXIS(Y);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Reduce string storage required for DEBUG_LEVELING
2016-04-06 02:04:42 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
}
Allow Y to home before X with option in Configuration_adv.h. This addresses comments in #1956 and #1079. In particular, this is useful when both endstops are stationary on a CoreXY system, and the Y axis needs to be homed before the X so the flags are aligned.
2015-04-22 20:34:55 +00:00
#endif
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Fix G28 homing Y with X - Fixed a typo causing G28 to home incorrectly - Added documentation to G28 - Added homeXYZ bools to neaten the code - Added a note about home_offsets being questionable
2015-03-30 01:06:59 +00:00
// Home Z last if homing towards the bed
#if Z_HOME_DIR < 0
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
if (home_all || homeZ) {
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(Z_SAFE_HOMING)
Move z safe homing to its own function
2016-09-12 01:39:39 +00:00
home_z_safely();
#else
Homing fixes - Prevent `Z_SAFE_HOMING` from homing Z twice in some cases - Allow `G28` with XYZ values of 0 to explicitly set the position - Don’t add `home_offset` when setting XYZ explicitly in `G28` - Add `code_has_value` function to check for the presence of a numeric value (could just test for space or nul to allow other types of values)
2015-04-12 03:06:48 +00:00
HOMEAXIS(Z);
Move z safe homing to its own function
2016-09-12 01:39:39 +00:00
#endif
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all || homeZ) > final", current_position);
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
} // home_all || homeZ
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif // Z_HOME_DIR < 0
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Use a macro for kinematic sync_plan_position
2016-06-22 01:56:25 +00:00
SYNC_PLAN_POSITION_KINEMATIC();
Bed Auto Leveling feature Check the Readme for instruction how to enable and configure the feature
2013-09-29 16:20:06 +00:00
Use sync_plan_position_delta where needed
2016-06-21 23:17:48 +00:00
#endif // !DELTA (gcode_G28)
Enhanced G29 - Adapted “Enhanced G29” code referred to in #1499 and posted at [3dprintboard.com](http://3dprintboard.com/showthread.php?3105-Auto_Bed_ Leveling-Enhanced-G29-command) - Compatible with current G29 while adding some new arguments - `V` sets the verbose level for serial out - `T` (or `V` > 2) send a Topology report to serial out - `E` works the same way as before - `P` works as before (source used `n` or `U`/`u`) - `L`, `R`, `B`, `F` work as before - Still needs sanity checking for `LRBF`
2015-03-03 04:00:17 +00:00
Simpler cleanup in G28 / G29
2016-06-22 21:20:34 +00:00
endstops.not_homing();
Enhanced G29 - Adapted “Enhanced G29” code referred to in #1499 and posted at [3dprintboard.com](http://3dprintboard.com/showthread.php?3105-Auto_Bed_ Leveling-Enhanced-G29-command) - Compatible with current G29 while adding some new arguments - `V` sets the verbose level for serial out - `T` (or `V` > 2) send a Topology report to serial out - `E` works the same way as before - `P` works as before (source used `n` or `U`/`u`) - `L`, `R`, `B`, `F` work as before - Still needs sanity checking for `LRBF`
2015-03-03 04:00:17 +00:00
Add an option for delta to home to the top
2016-11-21 05:12:07 +00:00
#if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
// move to a height where we can use the full xy-area
do_blocking_move_to_z(delta_clip_start_height);
#endif
Apply const in Marlin_main.cpp
2017-05-12 04:22:58 +00:00
misc. UBL fixes (#6631) * Restore LSF functionality Some of the typo's persisted... Hopefully this gets them all fixed. * Restore user's expectations of how G28 should behave * Allow Nozzle size control with ornery host programs
2017-05-07 23:23:48 +00:00
#if ENABLED(AUTO_BED_LEVELING_UBL)
Apply const in Marlin_main.cpp
2017-05-12 04:22:58 +00:00
set_bed_leveling_enabled(ubl_state_at_entry);
misc. UBL fixes (#6631) * Restore LSF functionality Some of the typo's persisted... Hopefully this gets them all fixed. * Restore user's expectations of how G28 should behave * Allow Nozzle size control with ornery host programs
2017-05-07 23:23:48 +00:00
#endif
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
Simpler cleanup in G28 / G29
2016-06-22 21:20:34 +00:00
clean_up_after_endstop_or_probe_move();
Always switch to tool 0 for G28
2016-07-20 02:37:31 +00:00
// Restore the active tool after homing
#if HOTENDS > 1
tool_change(old_tool_index, 0, true);
#endif
Call report_current_position instead of gcode_M114 directly
2016-04-26 01:23:09 +00:00
report_current_position();
Replace MBL Z hacking
2017-03-15 08:20:41 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
#endif
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
} // G28
Bed Auto Leveling feature Check the Readme for instruction how to enable and configure the feature
2013-09-29 16:20:06 +00:00
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
void home_all_axes() { gcode_G28(true); }
Add a function to home all axes (i.e., gcode_G28)
2017-05-01 20:03:13 +00:00
Add HAS_PROBING_PROCEDURE conditional
2016-06-22 21:03:22 +00:00
#if HAS_PROBING_PROCEDURE
void out_of_range_error(const char* p_edge) {
SERIAL_PROTOCOLPGM("?Probe ");
serialprintPGM(p_edge);
SERIAL_PROTOCOLLNPGM(" position out of range.");
}
#endif
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
Log machine info in G28 and G29
2016-08-29 01:45:18 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
inline void _manual_goto_xy(const float &x, const float &y) {
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float old_feedrate_mm_s = feedrate_mm_s;
Simplify MBL movement, zigzag
2016-04-13 09:37:41 +00:00
Replace MBL Z hacking
2017-03-15 08:20:41 +00:00
#if MANUAL_PROBE_HEIGHT > 0
feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
line_to_current_position();
#endif
Simplify MBL movement, zigzag
2016-04-13 09:37:41 +00:00
Fix z feedrate value when doing mesh bed leveling. probe feedrate uses XY_PROBE_SPEED
2016-11-20 00:34:41 +00:00
feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
Make POSITION macros global
2016-07-24 23:34:01 +00:00
current_position[X_AXIS] = LOGICAL_X_POSITION(x);
current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
Simplify MBL movement, zigzag
2016-04-13 09:37:41 +00:00
line_to_current_position();
Replace MBL Z hacking
2017-03-15 08:20:41 +00:00
#if MANUAL_PROBE_HEIGHT > 0
Fix z feedrate value when doing mesh bed leveling. probe feedrate uses XY_PROBE_SPEED
2016-11-20 00:34:41 +00:00
feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
Replace MBL Z hacking
2017-03-15 08:20:41 +00:00
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + 0.2; // just slightly over the bed
Simplify MBL movement, zigzag
2016-04-13 09:37:41 +00:00
line_to_current_position();
#endif
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
feedrate_mm_s = old_feedrate_mm_s;
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Simplify MBL movement, zigzag
2016-04-13 09:37:41 +00:00
}
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#endif
#if ENABLED(MESH_BED_LEVELING)
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
// Save 130 bytes with non-duplication of PSTR
UBL name/state methods
2017-05-16 07:34:36 +00:00
void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
Extend `M420` to print state and, with `V`, the matrix / mesh
2016-12-16 03:04:28 +00:00
void mbl_mesh_report() {
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
Extend `M420` to print state and, with `V`, the matrix / mesh
2016-12-16 03:04:28 +00:00
SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
Swap MBL z_values dimensions to [X][Y]
2017-04-12 22:24:05 +00:00
[](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
Add hidden option to output Bilinear grids in JSON
2017-04-05 07:55:25 +00:00
);
Extend `M420` to print state and, with `V`, the matrix / mesh
2016-12-16 03:04:28 +00:00
}
Patches for leveling reactivation in G28 / M48
2017-05-01 22:34:28 +00:00
void mesh_probing_done() {
mbl.set_has_mesh(true);
home_all_axes();
set_bed_leveling_enabled(true);
#if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS);
set_destination_to_current();
line_to_destination(homing_feedrate_mm_s[Z_AXIS]);
stepper.synchronize();
#endif
}
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
/**
Update ABL comments (PR#95) * Updates the auto bed leveling comments ONLY. * Renames "Z probe" word usage in //comments and #errors properly.
2015-08-20 14:07:55 +00:00
* G29: Mesh-based Z probe, probes a grid and produces a
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
* mesh to compensate for variable bed height
*
* Parameters With MESH_BED_LEVELING:
*
Mesh bed leveling: Added G29 S3 + finer steps in manual probing. * Use "G29 S3 Xn Yn Zn.nn" to modify bad probed point manually * Changed manual Z steps from 0.05 to 0.025 and made brought it to Configuration.h
2015-04-01 19:18:51 +00:00
* S0 Produce a mesh report
* S1 Start probing mesh points
* S2 Probe the next mesh point
* S3 Xn Yn Zn.nn Manually modify a single point
Add "G29 S4" to fine tune Z level for Mesh Bed Leveling. Also add mbl.z_offset to the EEPROM, bumping the version to V23.
2016-03-24 21:16:09 +00:00
* S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
MBL: Added keeping MBL active when homing single axises for #3750
2016-05-24 20:53:15 +00:00
* S5 Reset and disable mesh
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
*
Mesh bed leveling: Added G29 S3 + finer steps in manual probing. * Use "G29 S3 Xn Yn Zn.nn" to modify bad probed point manually * Changed manual Z steps from 0.05 to 0.025 and made brought it to Configuration.h
2015-04-01 19:18:51 +00:00
* The S0 report the points as below
*
Add "G29 S4" to fine tune Z level for Mesh Bed Leveling. Also add mbl.z_offset to the EEPROM, bumping the version to V23.
2016-03-24 21:16:09 +00:00
* +----> X-axis 1-n
Mesh bed leveling: Added G29 S3 + finer steps in manual probing. * Use "G29 S3 Xn Yn Zn.nn" to modify bad probed point manually * Changed manual Z steps from 0.05 to 0.025 and made brought it to Configuration.h
2015-04-01 19:18:51 +00:00
* |
* |
Add "G29 S4" to fine tune Z level for Mesh Bed Leveling. Also add mbl.z_offset to the EEPROM, bumping the version to V23.
2016-03-24 21:16:09 +00:00
* v Y-axis 1-n
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
*
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
*/
Added G29 command
2015-03-21 13:50:47 +00:00
inline void gcode_G29() {
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
MBL fiddle
2017-03-25 07:39:01 +00:00
static int mbl_probe_index = -1;
Add HAS_SOFTWARE_ENDSTOPS macro
2017-03-16 22:20:24 +00:00
#if HAS_SOFTWARE_ENDSTOPS
Replace MBL Z hacking
2017-03-15 08:20:41 +00:00
static bool enable_soft_endstops;
#endif
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
Add and apply WITHIN macro
2017-03-31 14:00:49 +00:00
if (!WITHIN(state, 0, 5)) {
MBL: Added keeping MBL active when homing single axises for #3750
2016-05-24 20:53:15 +00:00
SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
return;
Added G29 command
2015-03-21 13:50:47 +00:00
}
Two index finding functions for MBL
2016-05-22 00:38:14 +00:00
int8_t px, py;
Compile error fix! Fix for merge artifacts.
2015-04-05 02:16:16 +00:00
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
switch (state) {
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
case MeshReport:
MBL: Added keeping MBL active when homing single axises for #3750
2016-05-24 20:53:15 +00:00
if (mbl.has_mesh()) {
Extend `M420` to print state and, with `V`, the matrix / mesh
2016-12-16 03:04:28 +00:00
SERIAL_PROTOCOLLNPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF);
mbl_mesh_report();
Added G29 command
2015-03-21 13:50:47 +00:00
}
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
else
Extend `M420` to print state and, with `V`, the matrix / mesh
2016-12-16 03:04:28 +00:00
SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
break;
Added G29 command
2015-03-21 13:50:47 +00:00
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
case MeshStart:
mbl.reset();
MBL fiddle
2017-03-25 07:39:01 +00:00
mbl_probe_index = 0;
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
break;
Added G29 command
2015-03-21 13:50:47 +00:00
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
case MeshNext:
MBL fiddle
2017-03-25 07:39:01 +00:00
if (mbl_probe_index < 0) {
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
return;
}
Simplify MBL movement, zigzag
2016-04-13 09:37:41 +00:00
// For each G29 S2...
MBL fiddle
2017-03-25 07:39:01 +00:00
if (mbl_probe_index == 0) {
Add HAS_SOFTWARE_ENDSTOPS macro
2017-03-16 22:20:24 +00:00
#if HAS_SOFTWARE_ENDSTOPS
Replace MBL Z hacking
2017-03-15 08:20:41 +00:00
// For the initial G29 S2 save software endstop state
enable_soft_endstops = soft_endstops_enabled;
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
}
else {
Simplify MBL movement, zigzag
2016-04-13 09:37:41 +00:00
// For G29 S2 after adjusting Z.
MBL fiddle
2017-03-25 07:39:01 +00:00
mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
Add HAS_SOFTWARE_ENDSTOPS macro
2017-03-16 22:20:24 +00:00
#if HAS_SOFTWARE_ENDSTOPS
Replace MBL Z hacking
2017-03-15 08:20:41 +00:00
soft_endstops_enabled = enable_soft_endstops;
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
}
Simplify MBL movement, zigzag
2016-04-13 09:37:41 +00:00
// If there's another point to sample, move there with optional lift.
Define GRID_MAX_POINTS
2017-05-12 04:22:35 +00:00
if (mbl_probe_index < GRID_MAX_POINTS) {
MBL fiddle
2017-03-25 07:39:01 +00:00
mbl.zigzag(mbl_probe_index, px, py);
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
_manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
Replace MBL Z hacking
2017-03-15 08:20:41 +00:00
Add HAS_SOFTWARE_ENDSTOPS macro
2017-03-16 22:20:24 +00:00
#if HAS_SOFTWARE_ENDSTOPS
Replace MBL Z hacking
2017-03-15 08:20:41 +00:00
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
soft_endstops_enabled = false;
#endif
MBL fiddle
2017-03-25 07:39:01 +00:00
mbl_probe_index++;
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
}
else {
Simplify MBL movement, zigzag
2016-04-13 09:37:41 +00:00
// One last "return to the bed" (as originally coded) at completion
Replace MBL Z hacking
2017-03-15 08:20:41 +00:00
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
Simplify MBL movement, zigzag
2016-04-13 09:37:41 +00:00
line_to_current_position();
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Simplify MBL movement, zigzag
2016-04-13 09:37:41 +00:00
Patches for leveling reactivation in G28 / M48
2017-05-01 22:34:28 +00:00
// After recording the last point, activate home and activate
MBL fiddle
2017-03-25 07:39:01 +00:00
mbl_probe_index = -1;
Patches for leveling reactivation in G28 / M48
2017-05-01 22:34:28 +00:00
SERIAL_PROTOCOLLNPGM("Mesh probing done.");
Audible feedback for settings store/load/reset
2017-03-20 11:10:31 +00:00
BUZZ(100, 659);
BUZZ(100, 698);
Patches for leveling reactivation in G28 / M48
2017-05-01 22:34:28 +00:00
mesh_probing_done();
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
}
Merge branch 'Development-Marlin' into Development Conflicts: Marlin/Configuration.h Marlin/Marlin_main.cpp
2015-04-05 02:06:02 +00:00
break;
case MeshSet:
Call code_seen only once per parameter
2015-07-07 05:55:13 +00:00
if (code_seen('X')) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
px = code_value_int() - 1;
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) {
SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(GRID_MAX_POINTS_X) ").");
Merge branch 'Development-Marlin' into Development Conflicts: Marlin/Configuration.h Marlin/Marlin_main.cpp
2015-04-05 02:06:02 +00:00
return;
}
Clean up "else" and other spacing
2015-10-13 10:51:34 +00:00
}
else {
UBL name/state methods
2017-05-16 07:34:36 +00:00
SERIAL_CHAR('X'); echo_not_entered();
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
return;
Merge branch 'Development-Marlin' into Development Conflicts: Marlin/Configuration.h Marlin/Marlin_main.cpp
2015-04-05 02:06:02 +00:00
}
Save some RAM in MBL's G29
2016-08-22 17:46:08 +00:00
Call code_seen only once per parameter
2015-07-07 05:55:13 +00:00
if (code_seen('Y')) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
py = code_value_int() - 1;
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
Merge branch 'Development-Marlin' into Development Conflicts: Marlin/Configuration.h Marlin/Marlin_main.cpp
2015-04-05 02:06:02 +00:00
return;
}
Clean up "else" and other spacing
2015-10-13 10:51:34 +00:00
}
else {
UBL name/state methods
2017-05-16 07:34:36 +00:00
SERIAL_CHAR('Y'); echo_not_entered();
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
return;
Merge branch 'Development-Marlin' into Development Conflicts: Marlin/Configuration.h Marlin/Marlin_main.cpp
2015-04-05 02:06:02 +00:00
}
Save some RAM in MBL's G29
2016-08-22 17:46:08 +00:00
Call code_seen only once per parameter
2015-07-07 05:55:13 +00:00
if (code_seen('Z')) {
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
mbl.z_values[px][py] = code_value_linear_units();
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
}
else {
UBL name/state methods
2017-05-16 07:34:36 +00:00
SERIAL_CHAR('Z'); echo_not_entered();
Mesh bed leveling: Added G29 S3 + finer steps in manual probing. * Use "G29 S3 Xn Yn Zn.nn" to modify bad probed point manually * Changed manual Z steps from 0.05 to 0.025 and made brought it to Configuration.h
2015-04-01 19:18:51 +00:00
return;
Merge branch 'Development-Marlin' into Development Conflicts: Marlin/Configuration.h Marlin/Marlin_main.cpp
2015-04-05 02:06:02 +00:00
}
Add "G29 S4" to fine tune Z level for Mesh Bed Leveling. Also add mbl.z_offset to the EEPROM, bumping the version to V23.
2016-03-24 21:16:09 +00:00
break;
case MeshSetZOffset:
if (code_seen('Z')) {
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
mbl.z_offset = code_value_linear_units();
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
}
Add "G29 S4" to fine tune Z level for Mesh Bed Leveling. Also add mbl.z_offset to the EEPROM, bumping the version to V23.
2016-03-24 21:16:09 +00:00
else {
UBL name/state methods
2017-05-16 07:34:36 +00:00
SERIAL_CHAR('Z'); echo_not_entered();
Add "G29 S4" to fine tune Z level for Mesh Bed Leveling. Also add mbl.z_offset to the EEPROM, bumping the version to V23.
2016-03-24 21:16:09 +00:00
return;
}
MBL: Added keeping MBL active when homing single axises for #3750
2016-05-24 20:53:15 +00:00
break;
case MeshReset:
Replace MBL Z hacking
2017-03-15 08:20:41 +00:00
reset_bed_level();
break;
MBL: Added keeping MBL active when homing single axises for #3750
2016-05-24 20:53:15 +00:00
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
} // switch(state)
G29: Report final position back to host when using MBL
2016-05-17 00:22:23 +00:00
report_current_position();
Added G29 command
2015-03-21 13:50:47 +00:00
}
UBL implementation
2017-03-18 15:15:54 +00:00
#elif HAS_ABL && DISABLED(AUTO_BED_LEVELING_UBL)
Prevent G29 without first homing in X and Y If position is unknown, then G29 can be dangerous.
2014-02-19 08:51:43 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if ABL_GRID
#if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR xCount
#define PR_OUTER_END abl_grid_points_x
#define PR_INNER_VAR yCount
#define PR_INNER_END abl_grid_points_y
#else
#define PR_OUTER_VAR yCount
#define PR_OUTER_END abl_grid_points_y
#define PR_INNER_VAR xCount
#define PR_INNER_END abl_grid_points_x
#endif
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Update ABL comments (PR#95) * Updates the auto bed leveling comments ONLY. * Renames "Z probe" word usage in //comments and #errors properly.
2015-08-20 14:07:55 +00:00
* G29: Detailed Z probe, probes the bed at 3 or more points.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
* Will fail if the printer has not been homed with G28.
*
* Enhanced G29 Auto Bed Leveling Probe Routine
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
*
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
* D Dry-Run mode. Just evaluate the bed Topology - Don't apply
* or alter the bed level data. Useful to check the topology
* after a first run of G29.
*
* J Jettison current bed leveling data
*
* V Set the verbose level (0-4). Example: "G29 V3"
*
* Parameters With LINEAR leveling only:
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*
* P Set the size of the grid that will be probed (P x P points).
* Example: "G29 P4"
*
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
* X Set the X size of the grid that will be probed (X x Y points).
* Example: "G29 X7 Y5"
Add travel speed option to G29 command line
2015-03-11 12:51:56 +00:00
*
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
* Y Set the Y size of the grid that will be probed (X x Y points).
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*
* T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
* This is useful for manual bed leveling and finding flaws in the bed (to
* assist with part placement).
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
* Not supported by non-linear delta printer bed leveling.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
* Parameters With LINEAR and BILINEAR leveling only:
*
* S Set the XY travel speed between probe points (in units/min)
*
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
* F Set the Front limit of the probing grid
* B Set the Back limit of the probing grid
* L Set the Left limit of the probing grid
* R Set the Right limit of the probing grid
*
Allow faux leveling
2017-02-26 02:10:57 +00:00
* Parameters with DEBUG_LEVELING_FEATURE only:
*
* C Make a totally fake grid with no actual probing.
* For use in testing when no probing is possible.
*
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
* Parameters with BILINEAR leveling only:
guaranteed BLTouch detection To guarantee that the 5mS pulse from a BLTouch is recognized you need to have the endstops.update() routine run twice in that 5mS period. At 200 steps per mm, my system has problems below a feedrate of 120 mm per minute. Two things were done to guarantee the two updates within 5mS: 1) In interrupt mode, a check was added to the temperature ISR. If the endstop interrupt flag/counter is active then it'll kick off the endstop update routine every 1mS until the flag/counter is zero. This flag/counter is decremented by the temperature ISR AND by the stepper ISR. 2) In poling mode, code was added to the stepper ISR that will make sure the ISR runs about every 1.5mS. The "extra" ISR runs only check the endstops. This was done by grabbing the intended ISR delay and, if it's over 2.0mS, splitting the intended delay into multiple smaller delays. The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and the last no less than 0.5mS. ========================================= BLTouch error state recovery If BLTouch already active when deploying the probe then try to reset it & clear the probe. If that doesn't fix it then declare an error. Also added BLTouch init routine to startup section
2017-01-22 00:10:02 +00:00
*
Fix comment on G29 to include 'Z'
2016-12-16 03:03:21 +00:00
* Z Supply an additional Z probe offset
*
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
* Extra parameters with PROBE_MANUALLY:
*
* To do manual probing simply repeat G29 until the procedure is complete.
* The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort.
*
* Q Query leveling and G29 state
*
* A Abort current leveling procedure
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
* W Write a mesh point. (Ignored during leveling.)
* X Required X for mesh point
* Y Required Y for mesh point
* Z Required Z for mesh point
*
* Without PROBE_MANUALLY:
*
* E By default G29 will engage the Z probe, test the bed, then disengage.
Update ABL comments (PR#95) * Updates the auto bed leveling comments ONLY. * Renames "Z probe" word usage in //comments and #errors properly.
2015-08-20 14:07:55 +00:00
* Include "E" to engage/disengage the Z probe for each sample.
* There's no extra effect if you have a fixed Z probe.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*
*/
inline void gcode_G29() {
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// G29 Q is also available if debugging
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const bool query = code_seen('Q');
const uint8_t old_debug_flags = marlin_debug_flags;
Add 'Q' option to G29 when debug leveling is on
2016-09-27 04:39:20 +00:00
if (query) marlin_debug_flags |= DEBUG_LEVELING;
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(LEVELING)) {
Add 'Q' option to G29 when debug leveling is on
2016-09-27 04:39:20 +00:00
DEBUG_POS(">>> gcode_G29", current_position);
Log machine info in G28 and G29
2016-08-29 01:45:18 +00:00
log_machine_info();
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
}
Add 'Q' option to G29 when debug leveling is on
2016-09-27 04:39:20 +00:00
marlin_debug_flags = old_debug_flags;
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if DISABLED(PROBE_MANUALLY)
if (query) return;
#endif
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Allow faux leveling
2017-02-26 02:10:57 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY)
const bool faux = code_seen('C') && code_value_bool();
#else
bool constexpr faux = false;
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
// Don't allow auto-leveling without homing first
More constraint on axis_unhomed_error
2017-05-14 20:57:37 +00:00
if (axis_unhomed_error()) return;
Fix compile error in gcode_G29 - A redo of #1576, which missed topo_flag - Always set verbose_level
2015-03-06 22:52:05 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Define local vars 'static' for manual probing, 'auto' otherwise
#if ENABLED(PROBE_MANUALLY)
#define ABL_VAR static
#else
#define ABL_VAR
#endif
Fix compile error in gcode_G29 - A redo of #1576, which missed topo_flag - Always set verbose_level
2015-03-06 22:52:05 +00:00
Clear up G29 compiler warnings
2017-04-18 19:39:57 +00:00
ABL_VAR int verbose_level;
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
ABL_VAR float xProbe, yProbe, measured_z;
ABL_VAR bool dryrun, abl_should_enable;
Clear up G29 compiler warnings
2017-04-18 19:39:57 +00:00
#if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR int abl_probe_index;
#endif
Fix a pair of compiler complaints
2017-04-22 05:07:37 +00:00
#if HAS_SOFTWARE_ENDSTOPS && ENABLED(PROBE_MANUALLY)
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
ABL_VAR bool enable_soft_endstops = true;
#endif
Enhanced G29 - Adapted “Enhanced G29” code referred to in #1499 and posted at [3dprintboard.com](http://3dprintboard.com/showthread.php?3105-Auto_Bed_ Leveling-Enhanced-G29-command) - Compatible with current G29 while adding some new arguments - `V` sets the verbose level for serial out - `T` (or `V` > 2) send a Topology report to serial out - `E` works the same way as before - `P` works as before (source used `n` or `U`/`u`) - `L`, `R`, `B`, `F` work as before - Still needs sanity checking for `LRBF`
2015-03-03 04:00:17 +00:00
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#if ABL_GRID
Clear up G29 compiler warnings
2017-04-18 19:39:57 +00:00
#if ENABLED(PROBE_MANUALLY)
ABL_VAR uint8_t PR_OUTER_VAR;
ABL_VAR int8_t PR_INNER_VAR;
#endif
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
ABL_VAR float xGridSpacing, yGridSpacing;
Enhanced G29 - Adapted “Enhanced G29” code referred to in #1499 and posted at [3dprintboard.com](http://3dprintboard.com/showthread.php?3105-Auto_Bed_ Leveling-Enhanced-G29-command) - Compatible with current G29 while adding some new arguments - `V` sets the verbose level for serial out - `T` (or `V` > 2) send a Topology report to serial out - `E` works the same way as before - `P` works as before (source used `n` or `U`/`u`) - `L`, `R`, `B`, `F` work as before - Still needs sanity checking for `LRBF`
2015-03-03 04:00:17 +00:00
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#if ABL_PLANAR
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
abl_grid_points_y = GRID_MAX_POINTS_Y;
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
ABL_VAR bool do_topography_map;
#else // 3-point
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X,
abl_grid_points_y = GRID_MAX_POINTS_Y;
Clear up G29 compiler warnings
2017-04-18 19:39:57 +00:00
#endif
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
Clear up G29 compiler warnings
2017-04-18 19:39:57 +00:00
#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(PROBE_MANUALLY)
#if ABL_PLANAR
ABL_VAR int abl2;
#else // 3-point
Define GRID_MAX_POINTS
2017-05-12 04:22:35 +00:00
int constexpr abl2 = GRID_MAX_POINTS;
Clear up G29 compiler warnings
2017-04-18 19:39:57 +00:00
#endif
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
ABL_VAR float zoffset;
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
Define GRID_MAX_POINTS
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ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
mean;
#endif
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// Probe at 3 arbitrary points
ABL_VAR vector_3 points[3] = {
vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
};
#endif // AUTO_BED_LEVELING_3POINT
Add XY parameters to G29 for mesh dimensions
2016-09-29 06:17:16 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
/**
* On the initial G29 fetch command parameters.
*/
if (!g29_in_progress) {
Clear up G29 compiler warnings
2017-04-18 19:39:57 +00:00
#if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
abl_probe_index = 0;
#endif
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
abl_should_enable = planner.abl_enabled;
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (code_seen('W')) {
if (!bilinear_grid_spacing[X_AXIS]) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("No bilinear grid");
return;
}
const float z = code_seen('Z') && code_has_value() ? code_value_float() : 99999;
if (!WITHIN(z, -10, 10)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Bad Z value");
return;
}
const float x = code_seen('X') && code_has_value() ? code_value_float() : 99999,
y = code_seen('Y') && code_has_value() ? code_value_float() : 99999;
int8_t i = code_seen('I') && code_has_value() ? code_value_byte() : -1,
j = code_seen('J') && code_has_value() ? code_value_byte() : -1;
if (x < 99998 && y < 99998) {
// Get nearest i / j from x / y
i = (x - LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + 0.5 * xGridSpacing) / xGridSpacing;
j = (y - LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) + 0.5 * yGridSpacing) / yGridSpacing;
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
i = constrain(i, 0, GRID_MAX_POINTS_X - 1);
j = constrain(j, 0, GRID_MAX_POINTS_Y - 1);
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
}
Use same config name for all mesh dimensions
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if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) {
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
set_bed_leveling_enabled(false);
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
z_values[i][j] = z;
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
set_bed_leveling_enabled(abl_should_enable);
}
return;
} // code_seen('W')
#endif
Adjust leveling conditionals
2017-05-01 21:13:09 +00:00
#if HAS_LEVELING
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Jettison bed leveling data
if (code_seen('J')) {
reset_bed_level();
return;
}
#endif
verbose_level = code_seen('V') && code_has_value() ? code_value_int() : 0;
if (!WITHIN(verbose_level, 0, 4)) {
Various improvements - mostly UBL-related (#6607) UBL Clean up.
2017-05-06 23:59:16 +00:00
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
return;
}
Clear up G29 compiler warnings
2017-04-18 19:39:57 +00:00
dryrun = code_seen('D') && code_value_bool();
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
do_topography_map = verbose_level > 2 || code_seen('T');
Add XY parameters to G29 for mesh dimensions
2016-09-29 06:17:16 +00:00
// X and Y specify points in each direction, overriding the default
// These values may be saved with the completed mesh
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
abl_grid_points_x = code_seen('X') ? code_value_int() : GRID_MAX_POINTS_X;
abl_grid_points_y = code_seen('Y') ? code_value_int() : GRID_MAX_POINTS_Y;
Allow non-square leveling grid
2016-09-15 18:56:56 +00:00
if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int();
Add XY parameters to G29 for mesh dimensions
2016-09-29 06:17:16 +00:00
if (abl_grid_points_x < 2 || abl_grid_points_y < 2) {
SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum).");
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
return;
}
Add XY parameters to G29 for mesh dimensions
2016-09-29 06:17:16 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
abl2 = abl_grid_points_x * abl_grid_points_y;
Add XY parameters to G29 for mesh dimensions
2016-09-29 06:17:16 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
zoffset = code_seen('Z') ? code_value_linear_units() : 0;
Add XY parameters to G29 for mesh dimensions
2016-09-29 06:17:16 +00:00
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if ABL_GRID
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED);
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
left_probe_bed_position = code_seen('L') ? (int)code_value_linear_units() : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION);
right_probe_bed_position = code_seen('R') ? (int)code_value_linear_units() : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION);
front_probe_bed_position = code_seen('F') ? (int)code_value_linear_units() : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION);
back_probe_bed_position = code_seen('B') ? (int)code_value_linear_units() : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION);
Minor patch ups to `G29` This may fix a subtle bug caused by doing `G29` more than once without `G28` between.
2016-04-09 00:38:26 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
Moved G29 debug output before matrix.set_to_identity()
2016-04-22 14:09:42 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
if (left_out || right_out || front_out || back_out) {
if (left_out) {
out_of_range_error(PSTR("(L)eft"));
left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
}
if (right_out) {
out_of_range_error(PSTR("(R)ight"));
right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
}
if (front_out) {
out_of_range_error(PSTR("(F)ront"));
front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
}
if (back_out) {
out_of_range_error(PSTR("(B)ack"));
back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
}
return;
}
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// probe at the points of a lattice grid
xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1);
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
Include sync_plan_position_delta for SCARA also
2015-04-01 02:58:03 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#endif // ABL_GRID
Minor patch ups to `G29` This may fix a subtle bug caused by doing `G29` more than once without `G28` between.
2016-04-09 00:38:26 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
if (verbose_level > 0) {
SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
stepper.synchronize();
Move probe deploy after setup call in G29
2016-06-21 23:03:02 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Disable auto bed leveling during G29
planner.abl_enabled = false;
Use last probe point to correct Z when possible
2016-08-21 08:10:55 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
if (!dryrun) {
// Re-orient the current position without leveling
// based on where the steppers are positioned.
set_current_from_steppers_for_axis(ALL_AXES);
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Sync the planner to where the steppers stopped
SYNC_PLAN_POSITION_KINEMATIC();
}
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Allow faux leveling
2017-02-26 02:10:57 +00:00
if (!faux) setup_for_endstop_or_probe_move();
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
//xProbe = yProbe = measured_z = 0;
#if HAS_BED_PROBE
// Deploy the probe. Probe will raise if needed.
if (DEPLOY_PROBE()) {
planner.abl_enabled = abl_should_enable;
return;
}
#endif
Rename delta_grid spacing for general nonlinear
2016-09-12 01:56:16 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
Add conditionals for kinematics, leveling
2016-09-12 01:11:30 +00:00
Fix bilinear interpolation
2016-09-27 07:38:38 +00:00
if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
|| yGridSpacing != bilinear_grid_spacing[Y_AXIS]
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
|| left_probe_bed_position != LOGICAL_X_POSITION(bilinear_start[X_AXIS])
|| front_probe_bed_position != LOGICAL_Y_POSITION(bilinear_start[Y_AXIS])
Fix bilinear interpolation
2016-09-27 07:38:38 +00:00
) {
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
if (dryrun) {
// Before reset bed level, re-enable to correct the position
planner.abl_enabled = abl_should_enable;
}
Tweak call to `reset_bed_level` in G29
2016-12-14 07:50:28 +00:00
// Reset grid to 0.0 or "not probed". (Also disables ABL)
Clear grid for bilinear G29
2016-10-06 22:00:53 +00:00
reset_bed_level();
Tweak call to `reset_bed_level` in G29
2016-12-14 07:50:28 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Initialize a grid with the given dimensions
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
bilinear_grid_spacing[X_AXIS] = xGridSpacing;
bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
Fix bilinear interpolation
2016-09-27 07:38:38 +00:00
bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
Tweak call to `reset_bed_level` in G29
2016-12-14 07:50:28 +00:00
Add a proper flag for ABL enabled
2016-09-22 23:57:04 +00:00
// Can't re-enable (on error) until the new grid is written
Fix auto bed leveling - turn on after successful G29
2016-09-27 04:39:45 +00:00
abl_should_enable = false;
Add a proper flag for ABL enabled
2016-09-22 23:57:04 +00:00
}
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
Add conditionals for kinematics, leveling
2016-09-12 01:11:30 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
mean = 0.0;
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#endif // AUTO_BED_LEVELING_LINEAR
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if ENABLED(AUTO_BED_LEVELING_3POINT)
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
#endif
Add conditionals for kinematics, leveling
2016-09-12 01:11:30 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Probe at 3 arbitrary points
points[0].z = points[1].z = points[2].z = 0;
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#endif // AUTO_BED_LEVELING_3POINT
Enhanced G29 - Adapted “Enhanced G29” code referred to in #1499 and posted at [3dprintboard.com](http://3dprintboard.com/showthread.php?3105-Auto_Bed_ Leveling-Enhanced-G29-command) - Compatible with current G29 while adding some new arguments - `V` sets the verbose level for serial out - `T` (or `V` > 2) send a Topology report to serial out - `E` works the same way as before - `P` works as before (source used `n` or `U`/`u`) - `L`, `R`, `B`, `F` work as before - Still needs sanity checking for `LRBF`
2015-03-03 04:00:17 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
} // !g29_in_progress
Allow non-square leveling grid
2016-09-15 18:56:56 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if ENABLED(PROBE_MANUALLY)
Add PROBE_Y_FIRST option for probe order
2016-09-29 06:19:59 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Abort current G29 procedure, go back to ABLStart
if (code_seen('A') && g29_in_progress) {
SERIAL_PROTOCOLLNPGM("Manual G29 aborted");
#if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = enable_soft_endstops;
#endif
planner.abl_enabled = abl_should_enable;
g29_in_progress = false;
}
Enhanced G29 - Adapted “Enhanced G29” code referred to in #1499 and posted at [3dprintboard.com](http://3dprintboard.com/showthread.php?3105-Auto_Bed_ Leveling-Enhanced-G29-command) - Compatible with current G29 while adding some new arguments - `V` sets the verbose level for serial out - `T` (or `V` > 2) send a Topology report to serial out - `E` works the same way as before - `P` works as before (source used `n` or `U`/`u`) - `L`, `R`, `B`, `F` work as before - Still needs sanity checking for `LRBF`
2015-03-03 04:00:17 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Query G29 status
if (code_seen('Q')) {
if (!g29_in_progress)
SERIAL_PROTOCOLLNPGM("Manual G29 idle");
else {
SERIAL_PROTOCOLPAIR("Manual G29 point ", abl_probe_index + 1);
SERIAL_PROTOCOLLNPAIR(" of ", abl2);
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
}
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
}
if (code_seen('A') || code_seen('Q')) return;
// Fall through to probe the first point
g29_in_progress = true;
if (abl_probe_index == 0) {
Clear up G29 compiler warnings
2017-04-18 19:39:57 +00:00
// For the initial G29 save software endstop state
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if HAS_SOFTWARE_ENDSTOPS
enable_soft_endstops = soft_endstops_enabled;
#endif
}
else {
// For G29 after adjusting Z.
// Save the previous Z before going to the next point
measured_z = current_position[Z_AXIS];
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
mean += measured_z;
eqnBVector[abl_probe_index] = measured_z;
eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
z_values[xCount][yCount] = measured_z + zoffset;
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
Add PROBE_Y_FIRST option for probe order
2016-09-29 06:19:59 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
points[i].z = measured_z;
#endif
}
//
// If there's another point to sample, move there with optional lift.
//
#if ABL_GRID
// Find a next point to probe
// On the first G29 this will be the first probe point
while (abl_probe_index < abl2) {
// Set xCount, yCount based on abl_probe_index, with zig-zag
PR_OUTER_VAR = abl_probe_index / PR_INNER_END;
PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END);
bool zig = (PR_OUTER_VAR & 1) != ((PR_OUTER_END) & 1);
if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
const float xBase = left_probe_bed_position + xGridSpacing * xCount,
yBase = front_probe_bed_position + yGridSpacing * yCount;
Add PROBE_Y_FIRST option for probe order
2016-09-29 06:19:59 +00:00
Use last probe point to correct Z when possible
2016-08-21 08:10:55 +00:00
xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
Add PROBE_Y_FIRST option for probe order
2016-09-29 06:19:59 +00:00
yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
indexIntoAB[xCount][yCount] = abl_probe_index;
#endif
UBL-related cleanup, spacing, standards Reference: #6804
2017-05-21 10:28:38 +00:00
// Keep looping till a reachable point is found
if (position_is_reachable_xy(xProbe, yProbe)) break;
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
++abl_probe_index;
}
// Is there a next point to move to?
if (abl_probe_index < abl2) {
_manual_goto_xy(xProbe, yProbe); // Can be used here too!
++abl_probe_index;
#if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
soft_endstops_enabled = false;
Patch G29 for linear leveling, reachable with probe
2016-09-22 09:37:31 +00:00
#endif
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
return;
}
else {
// Then leveling is done!
// G29 finishing code goes here
// After recording the last point, activate abl
SERIAL_PROTOCOLLNPGM("Grid probing done.");
g29_in_progress = false;
Patch G29 for linear leveling, reachable with probe
2016-09-22 09:37:31 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Re-enable software endstops, if needed
#if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = enable_soft_endstops;
Tweak some code comments
2016-08-19 06:12:41 +00:00
#endif
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
}
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Probe at 3 arbitrary points
if (abl_probe_index < 3) {
xProbe = LOGICAL_X_POSITION(points[i].x);
yProbe = LOGICAL_Y_POSITION(points[i].y);
++abl_probe_index;
#if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
soft_endstops_enabled = false;
#endif
return;
}
else {
SERIAL_PROTOCOLLNPGM("3-point probing done.");
g29_in_progress = false;
// Re-enable software endstops, if needed
#if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = enable_soft_endstops;
#endif
if (!dryrun) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) {
planeNormal.x *= -1;
planeNormal.y *= -1;
planeNormal.z *= -1;
}
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
// Can't re-enable (on error) until the new grid is written
abl_should_enable = false;
Add a proper flag for ABL enabled
2016-09-22 23:57:04 +00:00
}
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
}
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#endif // AUTO_BED_LEVELING_3POINT
Add conditionals for kinematics, leveling
2016-09-12 01:11:30 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#else // !PROBE_MANUALLY
Add conditionals for kinematics, leveling
2016-09-12 01:11:30 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
bool stow_probe_after_each = code_seen('E');
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#if ABL_GRID
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
Simplified probe_pt (in G29)
2016-06-24 03:22:28 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Outer loop is Y with PROBE_Y_FIRST disabled
for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) {
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
int8_t inStart, inStop, inInc;
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
if (zig) { // away from origin
inStart = 0;
inStop = PR_INNER_END;
inInc = 1;
}
else { // towards origin
inStart = PR_INNER_END - 1;
inStop = -1;
inInc = -1;
}
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
Toggle with XOR
2017-04-09 12:58:47 +00:00
zig ^= true; // zag
Add a proper flag for ABL enabled
2016-09-22 23:57:04 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Inner loop is Y with PROBE_Y_FIRST enabled
for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
float xBase = left_probe_bed_position + xGridSpacing * xCount,
yBase = front_probe_bed_position + yGridSpacing * yCount;
xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
indexIntoAB[xCount][yCount] = ++abl_probe_index;
#endif
#if IS_KINEMATIC
// Avoid probing outside the round or hexagonal area
UBL-related cleanup, spacing, standards Reference: #6804
2017-05-21 10:28:38 +00:00
if (!position_is_reachable_by_probe_xy(xProbe, yProbe)) continue;
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#endif
Allow faux leveling
2017-02-26 02:10:57 +00:00
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
Fixed comparison of float values to NaN
2017-04-09 18:28:46 +00:00
if (isnan(measured_z)) {
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
planner.abl_enabled = abl_should_enable;
return;
}
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
mean += measured_z;
eqnBVector[abl_probe_index] = measured_z;
eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
z_values[xCount][yCount] = measured_z + zoffset;
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
#endif
abl_should_enable = false;
idle();
} // inner
} // outer
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// Probe at 3 arbitrary points
for (uint8_t i = 0; i < 3; ++i) {
// Retain the last probe position
xProbe = LOGICAL_X_POSITION(points[i].x);
yProbe = LOGICAL_Y_POSITION(points[i].y);
Some probe_pt error-handling
2017-05-15 23:32:26 +00:00
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
if (isnan(measured_z)) {
planner.abl_enabled = abl_should_enable;
return;
}
points[i].z = measured_z;
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
}
Simplified probe_pt (in G29)
2016-06-24 03:22:28 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
if (!dryrun) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) {
planeNormal.x *= -1;
planeNormal.y *= -1;
planeNormal.z *= -1;
}
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
Simplified probe_pt (in G29)
2016-06-24 03:22:28 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Can't re-enable (on error) until the new grid is written
abl_should_enable = false;
}
#endif // AUTO_BED_LEVELING_3POINT
Add a proper flag for ABL enabled
2016-09-22 23:57:04 +00:00
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
// Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
if (STOW_PROBE()) {
planner.abl_enabled = abl_should_enable;
return;
}
#endif // !PROBE_MANUALLY
//
// G29 Finishing Code
Add a proper flag for ABL enabled
2016-09-22 23:57:04 +00:00
//
// Unless this is a dry run, auto bed leveling will
// definitely be enabled after this point
//
Simplified probe_pt (in G29)
2016-06-24 03:22:28 +00:00
// Restore state after probing
Allow faux leveling
2017-02-26 02:10:57 +00:00
if (!faux) clean_up_after_endstop_or_probe_move();
Simplified probe_pt (in G29)
2016-06-24 03:22:28 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
#endif
// Calculate leveling, print reports, correct the position
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
Merge plus fixup zprobe_zoffset - Make `zprobe_zoffset` conditional - Fix ConfigurationStore for `zprobe_zoffset`
2015-03-26 04:14:00 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
if (!dryrun) extrapolate_unprobed_bed_level();
Extend `M420` to print state and, with `V`, the matrix / mesh
2016-12-16 03:04:28 +00:00
print_bilinear_leveling_grid();
Merge plus fixup zprobe_zoffset - Make `zprobe_zoffset` conditional - Fix ConfigurationStore for `zprobe_zoffset`
2015-03-26 04:14:00 +00:00
Add a method to refresh bilinear bed level after a change
2017-04-22 03:45:02 +00:00
refresh_bed_level();
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_print();
#endif
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
Merge plus fixup zprobe_zoffset - Make `zprobe_zoffset` conditional - Fix ConfigurationStore for `zprobe_zoffset`
2015-03-26 04:14:00 +00:00
Move NONLINEAR bed leveling to planner This is in advance of moving non-linear bed leveling to the planner class.
2016-09-15 05:20:30 +00:00
// For LINEAR leveling calculate matrix, print reports, correct the position
Implement the "manual" option for ABL
2017-03-15 08:32:00 +00:00
/**
* solve the plane equation ax + by + d = z
* A is the matrix with rows [x y 1] for all the probed points
* B is the vector of the Z positions
* the normal vector to the plane is formed by the coefficients of the
* plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
*/
Patch G29 for linear leveling, reachable with probe
2016-09-22 09:37:31 +00:00
float plane_equation_coefficients[3];
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
mean /= abl2;
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
if (verbose_level) {
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
SERIAL_EOL;
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mean of sampled points: ");
SERIAL_PROTOCOL_F(mean, 8);
More sanity-checking for ABL - Moved sanity-checks to Marlin_main.cpp - Applied to other configuration files - Fixed formatting of ABL output - Passing verbose level to probe_pt - Miscellaneous cleanup - Put CONFIG_STEPPERS_TOSHIBA into Configuration.h
2015-03-07 06:14:34 +00:00
SERIAL_EOL;
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
}
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
}
Add calculation of difference between auto-correct bed level plane, and measured topo map.
2015-05-04 16:35:36 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Create the matrix but don't correct the position yet
if (!dryrun) {
planner.bed_level_matrix = matrix_3x3::create_look_at(
vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)
);
}
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Show the Topography map if enabled
if (do_topography_map) {
SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
" +--- BACK --+\n"
" | |\n"
" L | (+) | R\n"
" E | | I\n"
" F | (-) N (+) | G\n"
" T | | H\n"
" | (-) | T\n"
" | |\n"
" O-- FRONT --+\n"
" (0,0)");
float min_diff = 999;
Allow non-square leveling grid
2016-09-15 18:56:56 +00:00
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
int ind = indexIntoAB[xx][yy];
float diff = eqnBVector[ind] - mean,
x_tmp = eqnAMatrix[ind + 0 * abl2],
y_tmp = eqnAMatrix[ind + 1 * abl2],
z_tmp = 0;
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
NOMORE(min_diff, eqnBVector[ind] - z_tmp);
if (diff >= 0.0)
SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
else
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL_F(diff, 5);
} // xx
SERIAL_EOL;
} // yy
SERIAL_EOL;
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
if (verbose_level > 3) {
SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
Add calculation of difference between auto-correct bed level plane, and measured topo map.
2015-05-04 16:35:36 +00:00
Allow non-square leveling grid
2016-09-15 18:56:56 +00:00
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
Add array indexIntoAB[xx][yy] and use it.
2015-08-06 11:46:05 +00:00
int ind = indexIntoAB[xx][yy];
Corrected Bed Height vs. Bed Topology for verbosity > 3 and cleaned out some tabs. Everything else is a rebased PR#2017 as proposed by @CptanPanic
2015-07-14 17:44:28 +00:00
float x_tmp = eqnAMatrix[ind + 0 * abl2],
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
y_tmp = eqnAMatrix[ind + 1 * abl2],
z_tmp = 0;
Add calculation of difference between auto-correct bed level plane, and measured topo map.
2015-05-04 16:35:36 +00:00
Planner singleton class
2016-04-28 01:06:32 +00:00
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
Add calculation of difference between auto-correct bed level plane, and measured topo map.
2015-05-04 16:35:36 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
float diff = eqnBVector[ind] - z_tmp - min_diff;
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
if (diff >= 0.0)
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
SERIAL_PROTOCOLPGM(" +");
// Include + for column alignment
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
else
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
SERIAL_PROTOCOLCHAR(' ');
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
SERIAL_PROTOCOL_F(diff, 5);
} // xx
SERIAL_EOL;
} // yy
More sanity-checking for ABL - Moved sanity-checks to Marlin_main.cpp - Applied to other configuration files - Fixed formatting of ABL output - Passing verbose level to probe_pt - Miscellaneous cleanup - Put CONFIG_STEPPERS_TOSHIBA into Configuration.h
2015-03-07 06:14:34 +00:00
SERIAL_EOL;
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
}
} //do_topography_map
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#endif // AUTO_BED_LEVELING_LINEAR
Patch G29 for 3-point leveling
2016-09-20 09:46:41 +00:00
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#if ABL_PLANAR
Patch G29 for 3-point leveling
2016-09-20 09:46:41 +00:00
Move NONLINEAR bed leveling to planner This is in advance of moving non-linear bed leveling to the planner class.
2016-09-15 05:20:30 +00:00
// For LINEAR and 3POINT leveling correct the current position
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
if (verbose_level > 0)
Modify debug methods to take PSTR
2017-05-02 21:46:11 +00:00
planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
Enhanced G29 - Adapted “Enhanced G29” code referred to in #1499 and posted at [3dprintboard.com](http://3dprintboard.com/showthread.php?3105-Auto_Bed_ Leveling-Enhanced-G29-command) - Compatible with current G29 while adding some new arguments - `V` sets the verbose level for serial out - `T` (or `V` > 2) send a Topology report to serial out - `E` works the same way as before - `P` works as before (source used `n` or `U`/`u`) - `L`, `R`, `B`, `F` work as before - Still needs sanity checking for `LRBF`
2015-03-03 04:00:17 +00:00
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
if (!dryrun) {
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
//
// Correct the current XYZ position based on the tilted plane.
//
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Use last probe point to correct Z when possible
2016-08-21 08:10:55 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Use planner.unapply_leveling to undo tilt in G29
2016-12-14 07:22:07 +00:00
float converted[XYZ];
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(converted, current_position);
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
Use planner.unapply_leveling to undo tilt in G29
2016-12-14 07:22:07 +00:00
planner.abl_enabled = true;
planner.unapply_leveling(converted); // use conversion machinery
planner.abl_enabled = false;
Use last probe point to correct Z when possible
2016-08-21 08:10:55 +00:00
Use planner.unapply_leveling to undo tilt in G29
2016-12-14 07:22:07 +00:00
// Use the last measured distance to the bed, if possible
Use last probe point to correct Z when possible
2016-08-21 08:10:55 +00:00
if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
&& NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
) {
Have run_probe() return probe Z, not nozzle Z
2017-03-25 04:25:59 +00:00
float simple_z = current_position[Z_AXIS] - measured_z;
Use last probe point to correct Z when possible
2016-08-21 08:10:55 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Z from Probe:", simple_z);
Use planner.unapply_leveling to undo tilt in G29
2016-12-14 07:22:07 +00:00
SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
Use last probe point to correct Z when possible
2016-08-21 08:10:55 +00:00
}
#endif
Use planner.unapply_leveling to undo tilt in G29
2016-12-14 07:22:07 +00:00
converted[Z_AXIS] = simple_z;
Use last probe point to correct Z when possible
2016-08-21 08:10:55 +00:00
}
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
Use planner.unapply_leveling to undo tilt in G29
2016-12-14 07:22:07 +00:00
// The rotated XY and corrected Z are now current_position
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(current_position, converted);
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Use last probe point to correct Z when possible
2016-08-21 08:10:55 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Merge plus fixup zprobe_zoffset - Make `zprobe_zoffset` conditional - Fix ConfigurationStore for `zprobe_zoffset`
2015-03-26 04:14:00 +00:00
}
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
Adjust final Z after bilinear G29
2016-09-26 05:11:27 +00:00
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (!dryrun) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
Fix auto bed leveling - turn on after successful G29
2016-09-27 04:39:45 +00:00
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
Adjust final Z after bilinear G29
2016-09-26 05:11:27 +00:00
#endif
Patch the end of G29 to sync plan position
2016-09-29 06:18:37 +00:00
// Unapply the offset because it is going to be immediately applied
// and cause compensation movement in Z
Adjust final Z after bilinear G29
2016-09-26 05:11:27 +00:00
current_position[Z_AXIS] -= bilinear_z_offset(current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
Fix auto bed leveling - turn on after successful G29
2016-09-27 04:39:45 +00:00
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
Adjust final Z after bilinear G29
2016-09-26 05:11:27 +00:00
#endif
}
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#endif // ABL_PLANAR
Enhanced G29 - Adapted “Enhanced G29” code referred to in #1499 and posted at [3dprintboard.com](http://3dprintboard.com/showthread.php?3105-Auto_Bed_ Leveling-Enhanced-G29-command) - Compatible with current G29 while adding some new arguments - `V` sets the verbose level for serial out - `T` (or `V` > 2) send a Topology report to serial out - `E` works the same way as before - `P` works as before (source used `n` or `U`/`u`) - `L`, `R`, `B`, `F` work as before - Still needs sanity checking for `LRBF`
2015-03-03 04:00:17 +00:00
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
#ifdef Z_PROBE_END_SCRIPT
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Clean up serial out code
2016-09-12 22:49:35 +00:00
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Fix up bed leveling code - Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
2015-03-26 03:36:24 +00:00
#endif
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Simplified probe_pt (in G29)
2016-06-24 03:22:28 +00:00
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Call report_current_position instead of gcode_M114 directly
2016-04-26 01:23:09 +00:00
report_current_position();
Fix dipping on DELTA robots during G29 - Addressing #3689, et. al.
2016-05-09 01:28:46 +00:00
KEEPALIVE_STATE(IN_HANDLER);
Add a proper flag for ABL enabled
2016-09-22 23:57:04 +00:00
// Auto Bed Leveling is complete! Enable if possible.
Fix auto bed leveling - turn on after successful G29
2016-09-27 04:39:45 +00:00
planner.abl_enabled = dryrun ? abl_should_enable : true;
Patch the end of G29 to sync plan position
2016-09-29 06:18:37 +00:00
if (planner.abl_enabled)
SYNC_PLAN_POSITION_KINEMATIC();
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Patches for leveling reactivation in G28 / M48
2017-05-01 22:34:28 +00:00
#endif // HAS_ABL && !AUTO_BED_LEVELING_UBL
M0-M1 Enhancements Allow M0 and M1 to include a message string. Ignore clicks on “Wait for user” so that the Info Screen stays up.
2014-11-25 00:56:37 +00:00
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
#if HAS_BED_PROBE
Patch G30 to use raise_z_for_servo (PR#73)
2015-08-11 23:04:40 +00:00
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
/**
* G30: Do a single Z probe at the current XY
Initial patches to G33
2017-04-28 22:17:01 +00:00
*
* Parameters:
*
* X Probe X position (default current X)
* Y Probe Y position (default current Y)
* S0 Leave the probe deployed
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
*/
inline void gcode_G30() {
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
const float xpos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
ypos = code_seen('Y') ? code_value_linear_units() : current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
Fix G30 with limits, print correct probe XY
2016-11-15 20:10:28 +00:00
UBL-related cleanup, spacing, standards Reference: #6804
2017-05-21 10:28:38 +00:00
if (!position_is_reachable_by_probe_xy(xpos, ypos)) return;
Fix G30 with limits, print correct probe XY
2016-11-15 20:10:28 +00:00
G30 will only disable bed leveling
2016-09-29 06:00:34 +00:00
// Disable leveling so the planner won't mess with us
Adjust leveling conditionals
2017-05-01 21:13:09 +00:00
#if HAS_LEVELING
G30 will only disable bed leveling
2016-09-29 06:00:34 +00:00
set_bed_leveling_enabled(false);
Unify reset_bed_level for linear/non-linear
2016-09-12 08:58:40 +00:00
#endif
Split up endstop_move functions
2016-06-21 22:32:28 +00:00
setup_for_endstop_or_probe_move();
Clear up ordering in G30
2016-06-20 23:18:30 +00:00
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
const float measured_z = probe_pt(xpos, ypos, !code_seen('S') || code_value_bool(), 1);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Some probe_pt error-handling
2017-05-15 23:32:26 +00:00
if (!isnan(measured_z)) {
SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos));
SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos));
SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z));
}
Patch G30 to use raise_z_for_servo (PR#73)
2015-08-11 23:04:40 +00:00
Split up endstop_move functions
2016-06-21 22:32:28 +00:00
clean_up_after_endstop_or_probe_move();
Clear up ordering in G30
2016-06-20 23:18:30 +00:00
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
report_current_position();
}
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Regular handlers for G31 / G32
2016-06-24 00:04:13 +00:00
#if ENABLED(Z_PROBE_SLED)
/**
* G31: Deploy the Z probe
*/
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
inline void gcode_G31() { DEPLOY_PROBE(); }
Regular handlers for G31 / G32
2016-06-24 00:04:13 +00:00
/**
* G32: Stow the Z probe
*/
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
inline void gcode_G32() { STOW_PROBE(); }
Regular handlers for G31 / G32
2016-06-24 00:04:13 +00:00
#endif // Z_PROBE_SLED
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
#if ENABLED(DELTA_AUTO_CALIBRATION)
/**
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
* G33 - Delta '1-4-7-point' Auto-Calibration
* Calibrate height, endstops, delta radius, and tower angles.
*
* Parameters:
*
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
* Pn Number of probe points:
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
*
* P1 Probe center and set height only.
* P2 Probe center and towers. Set height, endstops, and delta radius.
* P3 Probe all positions: center, towers and opposite towers. Set all.
* P4-P7 Probe all positions at different locations and average them.
*
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
* T Don't calibrate tower angle corrections
Clean up whitespace
2017-05-22 16:39:57 +00:00
*
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
* Cn.nn Calibration precision; when omitted calibrates to maximum precision
Clean up whitespace
2017-05-22 16:39:57 +00:00
*
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
* Vn Verbose level:
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
*
* V0 Dry-run mode. Report settings and probe results. No calibration.
* V1 Report settings
* V2 Report settings and probe results
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
*/
inline void gcode_G33() {
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
const int8_t probe_points = code_seen('P') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS;
if (!WITHIN(probe_points, 1, 7)) {
SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (1 to 7).");
return;
}
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
const int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
if (!WITHIN(verbose_level, 0, 2)) {
Various improvements - mostly UBL-related (#6607) UBL Clean up.
2017-05-06 23:59:16 +00:00
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2).");
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
return;
}
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
const float calibration_precision = code_seen('C') ? code_value_float() : 0.0;
if (calibration_precision < 0) {
SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>0).");
return;
}
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
const bool towers_set = !code_seen('T'),
_1p_calibration = probe_points == 1,
_4p_calibration = probe_points == 2,
_4p_towers_points = _4p_calibration && towers_set,
_4p_opposite_points = _4p_calibration && !towers_set,
_7p_calibration = probe_points >= 3,
_7p_half_circle = probe_points == 3,
_7p_double_circle = probe_points == 5,
_7p_triple_circle = probe_points == 6,
_7p_quadruple_circle = probe_points == 7,
_7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
_7p_intermed_points = _7p_calibration && !_7p_half_circle;
if (!_1p_calibration) { // test if the outer radius is reachable
Formatting, const in G33
2017-05-21 15:40:05 +00:00
const float circles = (_7p_quadruple_circle ? 1.5 :
_7p_triple_circle ? 1.0 :
_7p_double_circle ? 0.5 : 0),
radius = (1 + circles * 0.1) * delta_calibration_radius;
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
for (uint8_t axis = 1; axis < 13; ++axis) {
Formatting, const in G33
2017-05-21 15:40:05 +00:00
if (!position_is_reachable_by_probe_xy(cos(RADIANS(180 + 30 * axis)) * radius, sin(RADIANS(180 + 30 * axis)) * radius)) {
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
return;
}
}
}
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
stepper.synchronize();
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
#if HAS_LEVELING
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
reset_bed_level(); // After calibration bed-level data is no longer valid
#endif
#if HOTENDS > 1
const uint8_t old_tool_index = active_extruder;
tool_change(0, 0, true);
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
#endif
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
setup_for_endstop_or_probe_move();
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
endstops.enable(true);
home_delta();
endstops.not_homing();
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
Proposed changes This is what I did yesterday: - basicly gave the tests more comprehensive names; put all the declarations at the top; got rid of the magic negative C-value (renamed to P + A, O, T) - "cos(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 : -1)) * delta_calibration_radius" compiles wrong is zig_zag statement is without brackets - DELTA_TOWER_ANGLE_TRIM reset to 3 values (the calcs use the 3th value to normalize will not compile otherwise) -Wrote 3 dummies to keep EEPROM lenght the same -Reset the configs to the 'original' with autocal + menu disabled (but can be enabled of course)
2017-04-29 14:36:33 +00:00
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
float test_precision,
leaner code for probe routine
2017-04-30 15:19:18 +00:00
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
zero_std_dev_old = zero_std_dev,
Proposed changes This is what I did yesterday: - basicly gave the tests more comprehensive names; put all the declarations at the top; got rid of the magic negative C-value (renamed to P + A, O, T) - "cos(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 : -1)) * delta_calibration_radius" compiles wrong is zig_zag statement is without brackets - DELTA_TOWER_ANGLE_TRIM reset to 3 values (the calcs use the 3th value to normalize will not compile otherwise) -Wrote 3 dummies to keep EEPROM lenght the same -Reset the configs to the 'original' with autocal + menu disabled (but can be enabled of course)
2017-04-29 14:36:33 +00:00
e_old[XYZ] = {
endstop_adj[A_AXIS],
endstop_adj[B_AXIS],
endstop_adj[C_AXIS]
},
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
dr_old = delta_radius,
Tower angles Adding '7-point' tower angle correction calibration
2017-04-18 14:49:33 +00:00
zh_old = home_offset[Z_AXIS],
alpha_old = delta_tower_angle_trim[A_AXIS],
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
beta_old = delta_tower_angle_trim[B_AXIS];
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
// print settings
SERIAL_PROTOCOLPGM("Checking... AC");
if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
SERIAL_EOL;
Mark strings needing translation
2017-05-17 00:52:41 +00:00
LCD_MESSAGEPGM("Checking... AC"); // TODO: Make translatable string
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
Tower angles Adding '7-point' tower angle correction calibration
2017-04-18 14:49:33 +00:00
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (!_1p_calibration) {
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ey:");
if (endstop_adj[B_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[B_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ez:");
if (endstop_adj[C_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[C_AXIS], 2);
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL;
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (_7p_calibration && towers_set) {
Tower angles Adding '7-point' tower angle correction calibration
2017-04-18 14:49:33 +00:00
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ty:");
if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
SERIAL_PROTOCOLPGM(" Tz:+0.00");
SERIAL_EOL;
}
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
#if ENABLED(Z_PROBE_SLED)
DEPLOY_PROBE();
#endif
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
int8_t iterations = 0;
Clean up whitespace
2017-05-22 16:39:57 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
home_offset[Z_AXIS] -= probe_pt(0.0, 0.0 , true, 1); // 1st probe to set height
do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
Initial patches to G33
2017-04-28 22:17:01 +00:00
do {
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
float z_at_pt[13] = { 0.0 }, S1 = 0.0, S2 = 0.0;
leaner code for probe routine
2017-04-30 15:19:18 +00:00
int16_t N = 0;
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
Clean up whitespace
2017-05-22 16:39:57 +00:00
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
iterations++;
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
// Probe the points
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
}
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (_7p_calibration) { // probe extra center points
for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
z_at_pt[0] += probe_pt(cos(a) * r, sin(a) * r, true, 1); // TODO: Needs error handling
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
}
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
}
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (!_1p_calibration) { // probe the radius
Initial patches to G33
2017-04-28 22:17:01 +00:00
bool zig_zag = true;
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
const uint8_t start = _4p_opposite_points ? 3 : 1,
step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
for (uint8_t axis = start; axis < 13; axis += step) {
const float offset_circles = _7p_quadruple_circle ? (zig_zag ? 1.5 : 1.0) :
_7p_triple_circle ? (zig_zag ? 1.0 : 0.5) :
_7p_double_circle ? (zig_zag ? 0.5 : 0.0) : 0;
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
const float a = RADIANS(180 + 30 * axis),
r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
z_at_pt[axis] += probe_pt(cos(a) * r, sin(a) * r, true, 1); // TODO: Needs error handling
Proposed changes This is what I did yesterday: - basicly gave the tests more comprehensive names; put all the declarations at the top; got rid of the magic negative C-value (renamed to P + A, O, T) - "cos(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 : -1)) * delta_calibration_radius" compiles wrong is zig_zag statement is without brackets - DELTA_TOWER_ANGLE_TRIM reset to 3 values (the calcs use the 3th value to normalize will not compile otherwise) -Wrote 3 dummies to keep EEPROM lenght the same -Reset the configs to the 'original' with autocal + menu disabled (but can be enabled of course)
2017-04-29 14:36:33 +00:00
}
Initial patches to G33
2017-04-28 22:17:01 +00:00
zig_zag = !zig_zag;
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
z_at_pt[axis] /= (2 * offset_circles + 1);
Adding upto 7*7 probe grids - adding Cn 5, 6 and 7
2017-04-18 14:03:39 +00:00
}
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
}
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (_7p_intermed_points) // average intermediates to tower and opposites
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
for (uint8_t axis = 1; axis <= 11; axis += 2)
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
leaner code for probe routine
2017-04-30 15:19:18 +00:00
S1 += z_at_pt[0];
S2 += sq(z_at_pt[0]);
N++;
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (!_1p_calibration) // std dev from zero plane
for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) {
leaner code for probe routine
2017-04-30 15:19:18 +00:00
S1 += z_at_pt[axis];
S2 += sq(z_at_pt[axis]);
N++;
}
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
zero_std_dev_old = zero_std_dev;
leaner code for probe routine
2017-04-30 15:19:18 +00:00
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001;
Clean up whitespace
2017-05-22 16:39:57 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (iterations == 1) home_offset[Z_AXIS] = zh_old; // reset height after 1st probe change
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
// Solve matrices
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (zero_std_dev < test_precision && zero_std_dev > calibration_precision) {
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
COPY(e_old, endstop_adj);
dr_old = delta_radius;
zh_old = home_offset[Z_AXIS];
Tower angles Adding '7-point' tower angle correction calibration
2017-04-18 14:49:33 +00:00
alpha_old = delta_tower_angle_trim[A_AXIS];
beta_old = delta_tower_angle_trim[B_AXIS];
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
float e_delta[XYZ] = { 0.0 }, r_delta = 0.0, t_alpha = 0.0, t_beta = 0.0;
Delete 'expert level' and getting rid off verbose level 3 and configuration_adv settings
2017-04-18 12:44:26 +00:00
const float r_diff = delta_radius - delta_calibration_radius,
leaner code for probe routine
2017-04-30 15:19:18 +00:00
h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm
r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
#define ZP(N,I) ((N) * z_at_pt[I])
#define Z1000(I) ZP(1.00, I)
Delete 'expert level' and getting rid off verbose level 3 and configuration_adv settings
2017-04-18 12:44:26 +00:00
#define Z1050(I) ZP(h_factor, I)
#define Z0700(I) ZP(h_factor * 2.0 / 3.00, I)
#define Z0350(I) ZP(h_factor / 3.00, I)
#define Z0175(I) ZP(h_factor / 6.00, I)
#define Z2250(I) ZP(r_factor, I)
#define Z0750(I) ZP(r_factor / 3.00, I)
#define Z0375(I) ZP(r_factor / 6.00, I)
Tower angles Adding '7-point' tower angle correction calibration
2017-04-18 14:49:33 +00:00
#define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
switch (probe_points) {
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
case 1:
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
test_precision = 0.00;
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
LOOP_XYZ(i) e_delta[i] = Z1000(0);
break;
case 2:
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (towers_set) {
e_delta[X_AXIS] = Z1050(0) + Z0700(1) - Z0350(5) - Z0350(9);
e_delta[Y_AXIS] = Z1050(0) - Z0350(1) + Z0700(5) - Z0350(9);
e_delta[Z_AXIS] = Z1050(0) - Z0350(1) - Z0350(5) + Z0700(9);
r_delta = Z2250(0) - Z0750(1) - Z0750(5) - Z0750(9);
}
else {
e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3);
e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3);
e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3);
r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3);
}
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
break;
default:
e_delta[X_AXIS] = Z1050(0) + Z0350(1) - Z0175(5) - Z0175(9) - Z0350(7) + Z0175(11) + Z0175(3);
e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (towers_set) {
t_alpha = Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
t_beta = Z0888(1) - Z0444(5) - Z0444(9) + Z0888(7) - Z0444(11) - Z0444(3);
Cn negative : no tower angle calibration Giving a negative number of probe points disables the tower angle correction calibration ('4point' instead of '7point' solution) EEPROM version updated
2017-04-27 16:41:26 +00:00
}
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
break;
}
LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
delta_radius += r_delta;
leaner code for probe routine
2017-04-30 15:19:18 +00:00
delta_tower_angle_trim[A_AXIS] += t_alpha;
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
delta_tower_angle_trim[B_AXIS] += t_beta;
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
leaner code for probe routine
2017-04-30 15:19:18 +00:00
// adjust delta_height and endstops by the max amount
M666 normalize positive values to <=0 M666 + tower radians absolute value
2017-04-27 21:24:08 +00:00
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
else if(zero_std_dev >= test_precision) { // step one back
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
COPY(endstop_adj, e_old);
delta_radius = dr_old;
home_offset[Z_AXIS] = zh_old;
Tower angles Adding '7-point' tower angle correction calibration
2017-04-18 14:49:33 +00:00
delta_tower_angle_trim[A_AXIS] = alpha_old;
delta_tower_angle_trim[B_AXIS] = beta_old;
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
leaner code for probe routine
2017-04-30 15:19:18 +00:00
// print report
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
leaner code for probe routine
2017-04-30 15:19:18 +00:00
if (verbose_level != 1) {
Proposed changes This is what I did yesterday: - basicly gave the tests more comprehensive names; put all the declarations at the top; got rid of the magic negative C-value (renamed to P + A, O, T) - "cos(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 : -1)) * delta_calibration_radius" compiles wrong is zig_zag statement is without brackets - DELTA_TOWER_ANGLE_TRIM reset to 3 values (the calcs use the 3th value to normalize will not compile otherwise) -Wrote 3 dummies to keep EEPROM lenght the same -Reset the configs to the 'original' with autocal + menu disabled (but can be enabled of course)
2017-04-29 14:36:33 +00:00
SERIAL_PROTOCOLPGM(". c:");
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
if (z_at_pt[0] > 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[0], 2);
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (_4p_towers_points || _7p_calibration) {
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
SERIAL_PROTOCOLPGM(" x:");
if (z_at_pt[1] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[1], 2);
SERIAL_PROTOCOLPGM(" y:");
if (z_at_pt[5] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[5], 2);
SERIAL_PROTOCOLPGM(" z:");
if (z_at_pt[9] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[9], 2);
}
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (!_4p_opposite_points) SERIAL_EOL;
if ((_4p_opposite_points) || _7p_calibration) {
if (_7p_calibration) {
Initial patches to G33
2017-04-28 22:17:01 +00:00
SERIAL_CHAR('.');
leaner code for probe routine
2017-04-30 15:19:18 +00:00
SERIAL_PROTOCOL_SP(13);
Initial patches to G33
2017-04-28 22:17:01 +00:00
}
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
SERIAL_PROTOCOLPGM(" yz:");
if (z_at_pt[7] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[7], 2);
SERIAL_PROTOCOLPGM(" zx:");
if (z_at_pt[11] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[11], 2);
SERIAL_PROTOCOLPGM(" xy:");
if (z_at_pt[3] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[3], 2);
SERIAL_EOL;
}
}
leaner code for probe routine
2017-04-30 15:19:18 +00:00
if (test_precision != 0.0) { // !forced end
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) { // end iterations
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
SERIAL_PROTOCOLPGM("Calibration OK");
Initial patches to G33
2017-04-28 22:17:01 +00:00
SERIAL_PROTOCOL_SP(36);
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (zero_std_dev >= test_precision)
SERIAL_PROTOCOLPGM("rolling back.");
else {
SERIAL_PROTOCOLPGM("std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3);
Clean up whitespace
2017-05-22 16:39:57 +00:00
}
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
SERIAL_EOL;
Mark strings needing translation
2017-05-17 00:52:41 +00:00
LCD_MESSAGEPGM("Calibration OK"); // TODO: Make translatable string
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
}
leaner code for probe routine
2017-04-30 15:19:18 +00:00
else { // !end iterations
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
char mess[15] = "No convergence";
if (iterations < 31)
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
SERIAL_PROTOCOL(mess);
Initial patches to G33
2017-04-28 22:17:01 +00:00
SERIAL_PROTOCOL_SP(36);
SERIAL_PROTOCOLPGM("std dev:");
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL;
lcd_setstatus(mess);
}
Tower angles Adding '7-point' tower angle correction calibration
2017-04-18 14:49:33 +00:00
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (!_1p_calibration) {
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ey:");
if (endstop_adj[B_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[B_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ez:");
if (endstop_adj[C_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[C_AXIS], 2);
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL;
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (_7p_calibration && towers_set) {
Tower angles Adding '7-point' tower angle correction calibration
2017-04-18 14:49:33 +00:00
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ty:");
if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
SERIAL_PROTOCOLPGM(" Tz:+0.00");
SERIAL_EOL;
}
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
if (zero_std_dev >= test_precision || zero_std_dev <= calibration_precision)
Initial patches to G33
2017-04-28 22:17:01 +00:00
serialprintPGM(save_message);
leaner code for probe routine
2017-04-30 15:19:18 +00:00
SERIAL_EOL;
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
}
leaner code for probe routine
2017-04-30 15:19:18 +00:00
else { // forced end
Cn negative : no tower angle calibration Giving a negative number of probe points disables the tower angle correction calibration ('4point' instead of '7point' solution) EEPROM version updated
2017-04-27 16:41:26 +00:00
if (verbose_level == 0) {
Initial patches to G33
2017-04-28 22:17:01 +00:00
SERIAL_PROTOCOLPGM("End DRY-RUN");
SERIAL_PROTOCOL_SP(39);
SERIAL_PROTOCOLPGM("std dev:");
Cn negative : no tower angle calibration Giving a negative number of probe points disables the tower angle correction calibration ('4point' instead of '7point' solution) EEPROM version updated
2017-04-27 16:41:26 +00:00
SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL;
}
else {
SERIAL_PROTOCOLLNPGM("Calibration OK");
Mark strings needing translation
2017-05-17 00:52:41 +00:00
LCD_MESSAGEPGM("Calibration OK"); // TODO: Make translatable string
Cn negative : no tower angle calibration Giving a negative number of probe points disables the tower angle correction calibration ('4point' instead of '7point' solution) EEPROM version updated
2017-04-27 16:41:26 +00:00
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
SERIAL_EOL;
Initial patches to G33
2017-04-28 22:17:01 +00:00
serialprintPGM(save_message);
leaner code for probe routine
2017-04-30 15:19:18 +00:00
SERIAL_EOL;
Cn negative : no tower angle calibration Giving a negative number of probe points disables the tower angle correction calibration ('4point' instead of '7point' solution) EEPROM version updated
2017-04-27 16:41:26 +00:00
}
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
}
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
endstops.enable(true);
home_delta();
endstops.not_homing();
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
Clean up whitespace
2017-05-22 16:39:57 +00:00
}
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
while (zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31);
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
G33 evolutionary changes
2017-05-21 00:23:39 +00:00
#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
do_blocking_move_to_z(delta_clip_start_height);
#endif
clean_up_after_endstop_or_probe_move();
#if HOTENDS > 1
tool_change(old_tool_index, 0, true);
#endif
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
#if ENABLED(Z_PROBE_SLED)
RETRACT_PROBE();
#endif
}
#endif // DELTA_AUTO_CALIBRATION
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
#endif // HAS_BED_PROBE
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
Rename feature to G38_PROBE_TARGET
2016-09-29 20:06:01 +00:00
#if ENABLED(G38_PROBE_TARGET)
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
static bool G38_run_probe() {
bool G38_pass_fail = false;
// Get direction of move and retract
float retract_mm[XYZ];
LOOP_XYZ(i) {
float dist = destination[i] - current_position[i];
Cast int to AxisEnum for some accessors
2016-11-02 22:42:24 +00:00
retract_mm[i] = fabs(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
}
stepper.synchronize(); // wait until the machine is idle
// Move until destination reached or target hit
endstops.enable(true);
G38_move = true;
G38_endstop_hit = false;
prepare_move_to_destination();
stepper.synchronize();
G38_move = false;
endstops.hit_on_purpose();
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
if (G38_endstop_hit) {
G38_pass_fail = true;
G38 optional double touch Made the double touch portion a conditional compile based on the PROBE_DOUBLE_TOUCH flag. ============================================== Bugfix The current G38 only stopped a move if it involved the Z axis. Moved all the G38 code to it's own section and put it where it would always be executed no matter what axis was moving or if the endstop was enabled. Also added a comment to configuration_adv to alert the user the double tap had to be turned on. ============================================== Change G38 back to using Z_MIN_PROBE There's no Z_MIN endstop if Z_DUAL_ENDSTOPS is enabled and you have them set to the top of the gantry. G38 started out as using the Z_MIN_PROBE pin. I don't remember why we changed it to the Z_MIN endstop.
2017-01-12 01:06:03 +00:00
#if ENABLED(PROBE_DOUBLE_TOUCH)
// Move away by the retract distance
set_destination_to_current();
LOOP_XYZ(i) destination[i] += retract_mm[i];
endstops.enable(false);
prepare_move_to_destination();
stepper.synchronize();
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
G38 optional double touch Made the double touch portion a conditional compile based on the PROBE_DOUBLE_TOUCH flag. ============================================== Bugfix The current G38 only stopped a move if it involved the Z axis. Moved all the G38 code to it's own section and put it where it would always be executed no matter what axis was moving or if the endstop was enabled. Also added a comment to configuration_adv to alert the user the double tap had to be turned on. ============================================== Change G38 back to using Z_MIN_PROBE There's no Z_MIN endstop if Z_DUAL_ENDSTOPS is enabled and you have them set to the top of the gantry. G38 started out as using the Z_MIN_PROBE pin. I don't remember why we changed it to the Z_MIN endstop.
2017-01-12 01:06:03 +00:00
feedrate_mm_s /= 4;
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
G38 optional double touch Made the double touch portion a conditional compile based on the PROBE_DOUBLE_TOUCH flag. ============================================== Bugfix The current G38 only stopped a move if it involved the Z axis. Moved all the G38 code to it's own section and put it where it would always be executed no matter what axis was moving or if the endstop was enabled. Also added a comment to configuration_adv to alert the user the double tap had to be turned on. ============================================== Change G38 back to using Z_MIN_PROBE There's no Z_MIN endstop if Z_DUAL_ENDSTOPS is enabled and you have them set to the top of the gantry. G38 started out as using the Z_MIN_PROBE pin. I don't remember why we changed it to the Z_MIN endstop.
2017-01-12 01:06:03 +00:00
// Bump the target more slowly
LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
G38 optional double touch Made the double touch portion a conditional compile based on the PROBE_DOUBLE_TOUCH flag. ============================================== Bugfix The current G38 only stopped a move if it involved the Z axis. Moved all the G38 code to it's own section and put it where it would always be executed no matter what axis was moving or if the endstop was enabled. Also added a comment to configuration_adv to alert the user the double tap had to be turned on. ============================================== Change G38 back to using Z_MIN_PROBE There's no Z_MIN endstop if Z_DUAL_ENDSTOPS is enabled and you have them set to the top of the gantry. G38 started out as using the Z_MIN_PROBE pin. I don't remember why we changed it to the Z_MIN endstop.
2017-01-12 01:06:03 +00:00
endstops.enable(true);
G38_move = true;
prepare_move_to_destination();
stepper.synchronize();
G38_move = false;
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
G38 optional double touch Made the double touch portion a conditional compile based on the PROBE_DOUBLE_TOUCH flag. ============================================== Bugfix The current G38 only stopped a move if it involved the Z axis. Moved all the G38 code to it's own section and put it where it would always be executed no matter what axis was moving or if the endstop was enabled. Also added a comment to configuration_adv to alert the user the double tap had to be turned on. ============================================== Change G38 back to using Z_MIN_PROBE There's no Z_MIN endstop if Z_DUAL_ENDSTOPS is enabled and you have them set to the top of the gantry. G38 started out as using the Z_MIN_PROBE pin. I don't remember why we changed it to the Z_MIN endstop.
2017-01-12 01:06:03 +00:00
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
#endif
code changes to implement G38 commands 1) modified 3 code files Marlin.h Marlin_main.cpp endstops.cpp 2) modified config files so I could test on my machine Testing was done on an AzteegX3pro based machine. The probe was hooked to the Z_MIN endstop. My controller doesn't have a dedicated Z_PROBE input so I couldn't test that functionality. Verified that a large file (without any G38 commands) executed the same before and after the changes. Verified that the head moves as expected when G38.2 and G38.3 commands are issued. Single & multiple axis moves were tested along with + and - directions. Code was added to the main ISR. In normal operation only one extra IF statement is evaluated. I didn't notice any performance degradation because of the added code. The G38 commands are expected to be issued manually by the operator during machine setup. The G38 commands wait until the machine is idle before proceeding. That way the other commands are minimally impacted by the extra ISR overhead when a G38 command is in the queue. The G38 commands are very similar to the G28 commands except 1) only the Z_PROBE is used and movement can be in the + or - direction. See issue 4677 for a discussion on adding G38 commands to Marlin. Feature request: add ability to use G38.2 command (CNC) MarlinFirmware/Marlin#4677
2016-09-19 19:17:10 +00:00
}
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
endstops.hit_on_purpose();
endstops.not_homing();
return G38_pass_fail;
code changes to implement G38 commands 1) modified 3 code files Marlin.h Marlin_main.cpp endstops.cpp 2) modified config files so I could test on my machine Testing was done on an AzteegX3pro based machine. The probe was hooked to the Z_MIN endstop. My controller doesn't have a dedicated Z_PROBE input so I couldn't test that functionality. Verified that a large file (without any G38 commands) executed the same before and after the changes. Verified that the head moves as expected when G38.2 and G38.3 commands are issued. Single & multiple axis moves were tested along with + and - directions. Code was added to the main ISR. In normal operation only one extra IF statement is evaluated. I didn't notice any performance degradation because of the added code. The G38 commands are expected to be issued manually by the operator during machine setup. The G38 commands wait until the machine is idle before proceeding. That way the other commands are minimally impacted by the extra ISR overhead when a G38 command is in the queue. The G38 commands are very similar to the G28 commands except 1) only the Z_PROBE is used and movement can be in the + or - direction. See issue 4677 for a discussion on adding G38 commands to Marlin. Feature request: add ability to use G38.2 command (CNC) MarlinFirmware/Marlin#4677
2016-09-19 19:17:10 +00:00
}
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
/**
* G38.2 - probe toward workpiece, stop on contact, signal error if failure
* G38.3 - probe toward workpiece, stop on contact
*
G38 optional double touch Made the double touch portion a conditional compile based on the PROBE_DOUBLE_TOUCH flag. ============================================== Bugfix The current G38 only stopped a move if it involved the Z axis. Moved all the G38 code to it's own section and put it where it would always be executed no matter what axis was moving or if the endstop was enabled. Also added a comment to configuration_adv to alert the user the double tap had to be turned on. ============================================== Change G38 back to using Z_MIN_PROBE There's no Z_MIN endstop if Z_DUAL_ENDSTOPS is enabled and you have them set to the top of the gantry. G38 started out as using the Z_MIN_PROBE pin. I don't remember why we changed it to the Z_MIN endstop.
2017-01-12 01:06:03 +00:00
* Like G28 except uses Z min probe for all axes
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
*/
inline void gcode_G38(bool is_38_2) {
// Get X Y Z E F
gcode_get_destination();
setup_for_endstop_or_probe_move();
// If any axis has enough movement, do the move
LOOP_XYZ(i)
if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
if (!code_seen('F')) feedrate_mm_s = homing_feedrate_mm_s[i];
// If G38.2 fails throw an error
if (!G38_run_probe() && is_38_2) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Failed to reach target");
}
break;
}
clean_up_after_endstop_or_probe_move();
code changes to implement G38 commands 1) modified 3 code files Marlin.h Marlin_main.cpp endstops.cpp 2) modified config files so I could test on my machine Testing was done on an AzteegX3pro based machine. The probe was hooked to the Z_MIN endstop. My controller doesn't have a dedicated Z_PROBE input so I couldn't test that functionality. Verified that a large file (without any G38 commands) executed the same before and after the changes. Verified that the head moves as expected when G38.2 and G38.3 commands are issued. Single & multiple axis moves were tested along with + and - directions. Code was added to the main ISR. In normal operation only one extra IF statement is evaluated. I didn't notice any performance degradation because of the added code. The G38 commands are expected to be issued manually by the operator during machine setup. The G38 commands wait until the machine is idle before proceeding. That way the other commands are minimally impacted by the extra ISR overhead when a G38 command is in the queue. The G38 commands are very similar to the G28 commands except 1) only the Z_PROBE is used and movement can be in the + or - direction. See issue 4677 for a discussion on adding G38 commands to Marlin. Feature request: add ability to use G38.2 command (CNC) MarlinFirmware/Marlin#4677
2016-09-19 19:17:10 +00:00
}
Rename feature to G38_PROBE_TARGET
2016-09-29 20:06:01 +00:00
#endif // G38_PROBE_TARGET
code changes to implement G38 commands 1) modified 3 code files Marlin.h Marlin_main.cpp endstops.cpp 2) modified config files so I could test on my machine Testing was done on an AzteegX3pro based machine. The probe was hooked to the Z_MIN endstop. My controller doesn't have a dedicated Z_PROBE input so I couldn't test that functionality. Verified that a large file (without any G38 commands) executed the same before and after the changes. Verified that the head moves as expected when G38.2 and G38.3 commands are issued. Single & multiple axis moves were tested along with + and - directions. Code was added to the main ISR. In normal operation only one extra IF statement is evaluated. I didn't notice any performance degradation because of the added code. The G38 commands are expected to be issued manually by the operator during machine setup. The G38 commands wait until the machine is idle before proceeding. That way the other commands are minimally impacted by the extra ISR overhead when a G38 command is in the queue. The G38 commands are very similar to the G28 commands except 1) only the Z_PROBE is used and movement can be in the + or - direction. See issue 4677 for a discussion on adding G38 commands to Marlin. Feature request: add ability to use G38.2 command (CNC) MarlinFirmware/Marlin#4677
2016-09-19 19:17:10 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* G92: Set current position to given X Y Z E
*/
inline void gcode_G92() {
Adjust comments, spacing
2016-09-15 18:34:24 +00:00
bool didXYZ = false,
didE = code_seen('E');
Fix G92 so it only sets the plan position once
2016-04-20 20:01:58 +00:00
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
if (!didE) stepper.synchronize();
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZE(i) {
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (code_seen(axis_codes[i])) {
Simpler G92 for SCARA
2016-09-15 20:39:44 +00:00
#if IS_SCARA
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
current_position[i] = code_value_axis_units((AxisEnum)i);
Simpler G92 for SCARA
2016-09-15 20:39:44 +00:00
if (i != E_AXIS) didXYZ = true;
#else
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_POSITION_SHIFT
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
const float p = current_position[i];
prevent warning with define of NO_WORKSPACE_OFFSETS
2017-03-09 22:49:57 +00:00
#endif
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
float v = code_value_axis_units((AxisEnum)i);
Update software endstop positions with M206, M428, G92, etc.
2016-03-24 10:55:18 +00:00
Simpler G92 for SCARA
2016-09-15 20:39:44 +00:00
current_position[i] = v;
Update software endstop positions with M206, M428, G92, etc.
2016-03-24 10:55:18 +00:00
Simpler G92 for SCARA
2016-09-15 20:39:44 +00:00
if (i != E_AXIS) {
didXYZ = true;
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_POSITION_SHIFT
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
position_shift[i] += v - p; // Offset the coordinate space
update_software_endstops((AxisEnum)i);
#endif
Simpler G92 for SCARA
2016-09-15 20:39:44 +00:00
}
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
}
Use a macro for kinematic sync_plan_position
2016-06-22 01:56:25 +00:00
if (didXYZ)
SYNC_PLAN_POSITION_KINEMATIC();
else if (didE)
Fix G92 so it only sets the plan position once
2016-04-20 20:01:58 +00:00
sync_plan_position_e();
Report position in G92
2016-09-21 22:54:44 +00:00
report_current_position();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Sub-file calls. by overloading M32 it is now possible to execute gcode files from other gcode files, with a fixed recursion level. This can be used e.g. for having a real start.g and end.g somewhere on the sd card, which are then called from the normal print file. Another usecase would be to have macro-files for nozzle-change and layerchange. I have not tested the speedwise performance. The testing was done with pronterface. syntax: normal call from sd card will open the new file and continue executing there. M32 !/path/filename# this however will call the new file and return to the caller file. M32 P !/path/filename# with the optional "S<position>" the file starting position can be set. this is for continuing prints from a previous location.
2013-10-22 08:02:18 +00:00
Add HAS_RESUME_CONTINUE shorthand macro
2017-04-09 16:12:08 +00:00
#if HAS_RESUME_CONTINUE
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
* M0: Unconditional stop - Wait for user button press on LCD
* M1: Conditional stop - Wait for user button press on LCD
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M0_M1() {
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
const char * const args = current_command_args;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Apply three more commits
2015-04-13 01:07:08 +00:00
millis_t codenum = 0;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
bool hasP = false, hasS = false;
if (code_seen('P')) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
codenum = code_value_millis(); // milliseconds to wait
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
hasP = codenum > 0;
}
if (code_seen('S')) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
codenum = code_value_millis_from_seconds(); // seconds to wait
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
hasS = codenum > 0;
}
Pre-sanitize the command before handling - Use a global pointer for the current sanitized command - Pre-sanitize the current command to bypass `N` and nullify `*`, removing the need for handlers to bypass, ignore, or nullify these parts, and reducing overhead for `code_seen`, etc. - Pre-skip leading whitespace. - Only look for G, M, T codes at the start of the command. - Verify that G, M, T codes are followed by command codes.
2015-05-17 06:14:02 +00:00
Implement M0/M1 for EMERGENCY_PARSER
2016-09-12 01:51:53 +00:00
#if ENABLED(ULTIPANEL)
if (!hasP && !hasS && *args != '\0')
lcd_setstatus(args, true);
else {
LCD_MESSAGEPGM(MSG_USERWAIT);
#if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
dontExpireStatus();
#endif
}
#else
if (!hasP && !hasS && *args != '\0') {
SERIAL_ECHO_START;
SERIAL_ECHOLN(args);
}
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Handle M108 in M1 also with ULTIPANEL
2016-10-26 04:25:47 +00:00
KEEPALIVE_STATE(PAUSED_FOR_USER);
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
wait_for_user = true;
Handle M108 in M1 also with ULTIPANEL
2016-10-26 04:25:47 +00:00
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
refresh_cmd_timeout();
Implement M0/M1 for EMERGENCY_PARSER
2016-09-12 01:51:53 +00:00
Centralize click-handling in the LCD loop
2016-10-26 06:42:52 +00:00
if (codenum > 0) {
codenum += previous_cmd_ms; // wait until this time for a click
while (PENDING(millis(), codenum) && wait_for_user) idle();
}
else {
#if ENABLED(ULTIPANEL)
if (lcd_detected()) {
while (wait_for_user) idle();
IS_SD_PRINTING ? LCD_MESSAGEPGM(MSG_RESUMING) : LCD_MESSAGEPGM(WELCOME_MSG);
}
Handle M108 in M1 also with ULTIPANEL
2016-10-26 04:25:47 +00:00
#else
Centralize click-handling in the LCD loop
2016-10-26 06:42:52 +00:00
while (wait_for_user) idle();
Handle M108 in M1 also with ULTIPANEL
2016-10-26 04:25:47 +00:00
#endif
Centralize click-handling in the LCD loop
2016-10-26 06:42:52 +00:00
}
Handle M108 in M1 also with ULTIPANEL
2016-10-26 04:25:47 +00:00
Centralize click-handling in the LCD loop
2016-10-26 06:42:52 +00:00
wait_for_user = false;
Implement M0/M1 for EMERGENCY_PARSER
2016-09-12 01:51:53 +00:00
KEEPALIVE_STATE(IN_HANDLER);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
#endif // HAS_RESUME_CONTINUE
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
SPINDLE/LASER implementation
2017-04-07 18:52:45 +00:00
#if ENABLED(SPINDLE_LASER_ENABLE)
/**
* M3: Spindle Clockwise
* M4: Spindle Counter-clockwise
*
* S0 turns off spindle.
*
* If no speed PWM output is defined then M3/M4 just turns it on.
*
* At least 12.8KHz (50Hz * 256) is needed for spindle PWM.
* Hardware PWM is required. ISRs are too slow.
*
* NOTE: WGM for timers 3, 4, and 5 must be either Mode 1 or Mode 5.
* No other settings give a PWM signal that goes from 0 to 5 volts.
*
* The system automatically sets WGM to Mode 1, so no special
* initialization is needed.
*
* WGM bits for timer 2 are automatically set by the system to
* Mode 1. This produces an acceptable 0 to 5 volt signal.
* No special initialization is needed.
*
* NOTE: A minimum PWM frequency of 50 Hz is needed. All prescaler
* factors for timers 2, 3, 4, and 5 are acceptable.
*
* SPINDLE_LASER_ENABLE_PIN needs an external pullup or it may power on
* the spindle/laser during power-up or when connecting to the host
* (usually goes through a reset which sets all I/O pins to tri-state)
*
* PWM duty cycle goes from 0 (off) to 255 (always on).
*/
// Wait for spindle to come up to speed
inline void delay_for_power_up() {
refresh_cmd_timeout();
while (PENDING(millis(), SPINDLE_LASER_POWERUP_DELAY + previous_cmd_ms)) idle();
}
// Wait for spindle to stop turning
inline void delay_for_power_down() {
refresh_cmd_timeout();
while (PENDING(millis(), SPINDLE_LASER_POWERDOWN_DELAY + previous_cmd_ms + 1)) idle();
}
/**
* ocr_val_mode() is used for debugging and to get the points needed to compute the RPM vs ocr_val line
*
* it accepts inputs of 0-255
*/
inline void ocr_val_mode() {
uint8_t spindle_laser_power = code_value_byte();
WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
if (SPINDLE_LASER_PWM_INVERT) spindle_laser_power = 255 - spindle_laser_power;
analogWrite(SPINDLE_LASER_PWM_PIN, spindle_laser_power);
}
inline void gcode_M3_M4(bool is_M3) {
stepper.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle
#if SPINDLE_DIR_CHANGE
const bool rotation_dir = (is_M3 && !SPINDLE_INVERT_DIR || !is_M3 && SPINDLE_INVERT_DIR) ? HIGH : LOW;
if (SPINDLE_STOP_ON_DIR_CHANGE \
&& READ(SPINDLE_LASER_ENABLE_PIN) == SPINDLE_LASER_ENABLE_INVERT \
&& READ(SPINDLE_DIR_PIN) != rotation_dir
) {
WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off
delay_for_power_down();
}
digitalWrite(SPINDLE_DIR_PIN, rotation_dir);
#endif
/**
* Our final value for ocr_val is an unsigned 8 bit value between 0 and 255 which usually means uint8_t.
* Went to uint16_t because some of the uint8_t calculations would sometimes give 1000 0000 rather than 1111 1111.
* Then needed to AND the uint16_t result with 0x00FF to make sure we only wrote the byte of interest.
*/
#if ENABLED(SPINDLE_LASER_PWM)
if (code_seen('O')) ocr_val_mode();
else {
const float spindle_laser_power = code_seen('S') ? code_value_float() : 0;
if (spindle_laser_power == 0) {
WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off (active low)
delay_for_power_down();
}
else {
int16_t ocr_val = (spindle_laser_power - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // convert RPM to PWM duty cycle
NOMORE(ocr_val, 255); // limit to max the Atmel PWM will support
if (spindle_laser_power <= SPEED_POWER_MIN)
ocr_val = (SPEED_POWER_MIN - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // minimum setting
if (spindle_laser_power >= SPEED_POWER_MAX)
ocr_val = (SPEED_POWER_MAX - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // limit to max RPM
if (SPINDLE_LASER_PWM_INVERT) ocr_val = 255 - ocr_val;
WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
analogWrite(SPINDLE_LASER_PWM_PIN, ocr_val & 0xFF); // only write low byte
delay_for_power_up();
}
}
#else
WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low) if spindle speed option not enabled
delay_for_power_up();
#endif
}
/**
* M5 turn off spindle
*/
inline void gcode_M5() {
stepper.synchronize();
WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT);
delay_for_power_down();
}
#endif // SPINDLE_LASER_ENABLE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M17: Enable power on all stepper motors
*/
inline void gcode_M17() {
LCD_MESSAGEPGM(MSG_NO_MOVE);
disable / enable_all_steppers functions
2015-04-04 02:25:22 +00:00
enable_all_steppers();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
#if IS_KINEMATIC
#define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder)
#else
#define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S)
#endif
#if ENABLED(PARK_HEAD_ON_PAUSE)
SPINDLE/LASER implementation
2017-04-07 18:52:45 +00:00
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
float resume_position[XYZE];
bool move_away_flag = false;
inline void move_back_on_resume() {
if (!move_away_flag) return;
move_away_flag = false;
// Set extruder to saved position
destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS];
planner.set_e_position_mm(current_position[E_AXIS]);
#if IS_KINEMATIC
// Move XYZ to starting position
planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
#else
// Move XY to starting position, then Z
destination[X_AXIS] = resume_position[X_AXIS];
destination[Y_AXIS] = resume_position[Y_AXIS];
RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
destination[Z_AXIS] = resume_position[Z_AXIS];
RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
#endif
stepper.synchronize();
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
filament_ran_out = false;
#endif
set_current_to_destination();
}
#endif // PARK_HEAD_ON_PAUSE
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(SDSUPPORT)
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M20: List SD card to serial output
*/
inline void gcode_M20() {
SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
card.ls();
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
}
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M21: Init SD Card
*/
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
inline void gcode_M21() { card.initsd(); }
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M22: Release SD Card
*/
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
inline void gcode_M22() { card.release(); }
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
* M23: Open a file
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
inline void gcode_M23() { card.openFile(current_command_args, true); }
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
* M24: Start or Resume SD Print
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M24() {
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
#if ENABLED(PARK_HEAD_ON_PAUSE)
move_back_on_resume();
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
card.startFileprint();
Rework the print job timer to use the stopwatch class
2016-04-06 03:34:03 +00:00
print_job_timer.start();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M25: Pause SD Print
*/
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
inline void gcode_M25() {
card.pauseSDPrint();
print_job_timer.pause();
#if ENABLED(PARK_HEAD_ON_PAUSE)
enqueue_and_echo_commands_P(PSTR("M125")); // Must be enqueued with pauseSDPrint set to be last in the buffer
#endif
}
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M26: Set SD Card file index
*/
inline void gcode_M26() {
if (card.cardOK && code_seen('S'))
Use code_value_long for potentially large values Addressing #3711
2016-05-09 20:12:31 +00:00
card.setIndex(code_value_long());
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M27: Get SD Card status
*/
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
inline void gcode_M27() { card.getStatus(); }
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M28: Start SD Write
*/
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
inline void gcode_M28() { card.openFile(current_command_args, false); }
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M29: Stop SD Write
* Processed in write to file routine above
*/
inline void gcode_M29() {
// card.saving = false;
}
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M30 <filename>: Delete SD Card file
*/
inline void gcode_M30() {
if (card.cardOK) {
card.closefile();
Simplify & optimize with current_command_args
2015-05-17 23:58:37 +00:00
card.removeFile(current_command_args);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
}
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
#endif // SDSUPPORT
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M31: Get the time since the start of SD Print (or last M109)
*/
inline void gcode_M31() {
Rework some code to use timestamp_t struct (saves 72 bytes)
2016-07-22 14:47:56 +00:00
char buffer[21];
Renamed timestamp_t to duration_t
2016-07-24 02:13:35 +00:00
duration_t elapsed = print_job_timer.duration();
elapsed.toString(buffer);
Rework some code to use timestamp_t struct (saves 72 bytes)
2016-07-22 14:47:56 +00:00
lcd_setstatus(buffer);
Support longer print times in M31
2016-07-13 19:57:59 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
SERIAL_ECHO_START;
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOLNPAIR("Print time: ", buffer);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(SDSUPPORT)
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M32: Select file and start SD Print
*/
UBL no longer flout's the sacred GCode standard (#6745) Also clean up ubl_motion.cpp debug info and fix declaration of cx & cy
2017-05-15 21:25:01 +00:00
inline void gcode_M32() { // Why is M32 allowed to flout the sacred GCode standard?
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (card.sdprinting)
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Simplify & optimize with current_command_args
2015-05-17 23:58:37 +00:00
char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
Pre-sanitize the command before handling - Use a global pointer for the current sanitized command - Pre-sanitize the current command to bypass `N` and nullify `*`, removing the need for handlers to bypass, ignore, or nullify these parts, and reducing overhead for `code_seen`, etc. - Pre-skip leading whitespace. - Only look for G, M, T codes at the start of the command. - Verify that G, M, T codes are followed by command codes.
2015-05-17 06:14:02 +00:00
if (!namestartpos)
Simplify & optimize with current_command_args
2015-05-17 23:58:37 +00:00
namestartpos = current_command_args; // Default name position, 4 letters after the M
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
else
namestartpos++; //to skip the '!'
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Further optimization of command parser
2015-05-17 12:00:09 +00:00
bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (card.cardOK) {
Change openFile default to "not-push" instead of "do-replace"
2016-03-29 10:16:35 +00:00
card.openFile(namestartpos, true, call_procedure);
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Further optimization of command parser
2015-05-17 12:00:09 +00:00
if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
Use code_value_long for potentially large values Addressing #3711
2016-05-09 20:12:31 +00:00
card.setIndex(code_value_long());
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
card.startFileprint();
All print timer related activity now uses print_job_start(), print_job_timer() or print_job_stop()
2016-03-12 07:16:39 +00:00
// Procedure calls count as normal print time.
Bugfix: M32 was still using the old print timer
2016-04-06 03:41:36 +00:00
if (!call_procedure) print_job_timer.start();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
}
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(LONG_FILENAME_HOST_SUPPORT)
M33 LONG_FILENAME_HOST_SUPPORT
2015-05-18 00:36:32 +00:00
/**
* M33: Get the long full path of a file or folder
*
* Parameters:
* <dospath> Case-insensitive DOS-style path to a file or folder
*
* Example:
* M33 miscel~1/armchair/armcha~1.gco
*
* Output:
* /Miscellaneous/Armchair/Armchair.gcode
*/
inline void gcode_M33() {
Update M33 for new gcode parser
2015-05-28 21:17:39 +00:00
card.printLongPath(current_command_args);
M33 LONG_FILENAME_HOST_SUPPORT
2015-05-18 00:36:32 +00:00
}
#endif
New feature: SDCARD_SORT_ALPHA
2017-02-09 13:02:25 +00:00
#if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
/**
* M34: Set SD Card Sorting Options
*/
inline void gcode_M34() {
if (code_seen('S')) card.setSortOn(code_value_bool());
if (code_seen('F')) {
int v = code_value_long();
card.setSortFolders(v < 0 ? -1 : v > 0 ? 1 : 0);
}
//if (code_seen('R')) card.setSortReverse(code_value_bool());
}
#endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M928: Start SD Write
*/
inline void gcode_M928() {
Simplify & optimize with current_command_args
2015-05-17 23:58:37 +00:00
card.openLogFile(current_command_args);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif // SDSUPPORT
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Common pin_is_protected function
2016-10-05 06:50:36 +00:00
/**
* Sensitive pin test for M42, M226
*/
static bool pin_is_protected(uint8_t pin) {
static const int sensitive_pins[] = SENSITIVE_PINS;
for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
if (sensitive_pins[i] == pin) return true;
return false;
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M42: Change pin status via GCode
Additional tweaks to M42 exit conditions
2016-03-06 10:20:03 +00:00
*
* P<pin> Pin number (LED if omitted)
* S<byte> Pin status from 0 - 255
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M42() {
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
if (!code_seen('S')) return;
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
int pin_status = code_value_int();
Add and apply WITHIN macro
2017-03-31 14:00:49 +00:00
if (!WITHIN(pin_status, 0, 255)) return;
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
int pin_number = code_seen('P') ? code_value_int() : LED_PIN;
if (pin_number < 0) return;
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
Common pin_is_protected function
2016-10-05 06:50:36 +00:00
if (pin_is_protected(pin_number)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
return;
}
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
#if FAN_COUNT > 0
switch (pin_number) {
#if HAS_FAN0
case FAN_PIN: fanSpeeds[0] = pin_status; break;
#endif
#if HAS_FAN1
case FAN1_PIN: fanSpeeds[1] = pin_status; break;
#endif
#if HAS_FAN2
case FAN2_PIN: fanSpeeds[2] = pin_status; break;
#endif
}
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
#if ENABLED(PINS_DEBUGGING)
#include "pinsDebug.h"
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
inline void toggle_pins() {
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
const bool I_flag = code_seen('I') && code_value_bool();
const int repeat = code_seen('R') ? code_value_int() : 1,
start = code_seen('S') ? code_value_int() : 0,
end = code_seen('E') ? code_value_int() : NUM_DIGITAL_PINS - 1,
wait = code_seen('W') ? code_value_int() : 500;
for (uint8_t pin = start; pin <= end; pin++) {
if (!I_flag && pin_is_protected(pin)) {
SERIAL_ECHOPAIR("Sensitive Pin: ", pin);
SERIAL_ECHOLNPGM(" untouched.");
}
else {
SERIAL_ECHOPAIR("Pulsing Pin: ", pin);
pinMode(pin, OUTPUT);
for (int16_t j = 0; j < repeat; j++) {
digitalWrite(pin, 0);
safe_delay(wait);
digitalWrite(pin, 1);
safe_delay(wait);
digitalWrite(pin, 0);
safe_delay(wait);
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
}
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
}
SERIAL_CHAR('\n');
add Z servo test and toggle pins to M43
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}
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
SERIAL_ECHOLNPGM("Done.");
Cleanup following Pins Debug update
2017-04-08 07:00:23 +00:00
} // toggle_pins
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
inline void servo_probe_test() {
#if !(NUM_SERVOS > 0 && HAS_SERVO_0)
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("SERVO not setup");
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
fix 1 bug, add error messages =============================================== make changes requested by reviewers =============================================== add M43 test to Travis, fix EOL, remove trailing spaces
2017-04-13 04:22:11 +00:00
#elif !HAS_Z_SERVO_ENDSTOP
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
fix 1 bug, add error messages =============================================== make changes requested by reviewers =============================================== add M43 test to Travis, fix EOL, remove trailing spaces
2017-04-13 04:22:11 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z_ENDSTOP_SERVO_NR not setup");
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
#else
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
const uint8_t probe_index = code_seen('P') ? code_value_byte() : Z_ENDSTOP_SERVO_NR;
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
SERIAL_PROTOCOLLNPGM("Servo probe test");
SERIAL_PROTOCOLLNPAIR(". using index: ", probe_index);
SERIAL_PROTOCOLLNPAIR(". deploy angle: ", z_servo_angle[0]);
SERIAL_PROTOCOLLNPAIR(". stow angle: ", z_servo_angle[1]);
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
bool probe_inverting;
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
#define PROBE_TEST_PIN Z_MIN_PIN
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN);
SERIAL_PROTOCOLLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)");
SERIAL_PROTOCOLPGM(". Z_MIN_ENDSTOP_INVERTING: ");
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
#if Z_MIN_ENDSTOP_INVERTING
SERIAL_PROTOCOLLNPGM("true");
#else
SERIAL_PROTOCOLLNPGM("false");
#endif
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
probe_inverting = Z_MIN_ENDSTOP_INVERTING;
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
#elif ENABLED(Z_MIN_PROBE_ENDSTOP)
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
#define PROBE_TEST_PIN Z_MIN_PROBE_PIN
SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
SERIAL_PROTOCOLLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)");
SERIAL_PROTOCOLPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
#if Z_MIN_PROBE_ENDSTOP_INVERTING
SERIAL_PROTOCOLLNPGM("true");
#else
SERIAL_PROTOCOLLNPGM("false");
#endif
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
#endif
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
SERIAL_PROTOCOLLNPGM(". deploy & stow 4 times");
pinMode(PROBE_TEST_PIN, INPUT_PULLUP);
bool deploy_state;
bool stow_state;
for (uint8_t i = 0; i < 4; i++) {
servo[probe_index].move(z_servo_angle[0]); //deploy
safe_delay(500);
deploy_state = digitalRead(PROBE_TEST_PIN);
servo[probe_index].move(z_servo_angle[1]); //stow
safe_delay(500);
stow_state = digitalRead(PROBE_TEST_PIN);
}
if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
refresh_cmd_timeout();
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
if (deploy_state != stow_state) {
fix 1 bug, add error messages =============================================== make changes requested by reviewers =============================================== add M43 test to Travis, fix EOL, remove trailing spaces
2017-04-13 04:22:11 +00:00
SERIAL_PROTOCOLLNPGM("BLTouch clone detected");
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
if (deploy_state) {
SERIAL_PROTOCOLLNPGM(". DEPLOYED state: HIGH (logic 1)");
SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: LOW (logic 0)");
}
else {
SERIAL_PROTOCOLLNPGM(". DEPLOYED state: LOW (logic 0)");
SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: HIGH (logic 1)");
}
fix 1 bug, add error messages =============================================== make changes requested by reviewers =============================================== add M43 test to Travis, fix EOL, remove trailing spaces
2017-04-13 04:22:11 +00:00
#if ENABLED(BLTOUCH)
SERIAL_PROTOCOLLNPGM("ERROR: BLTOUCH enabled - set this device up as a Z Servo Probe with inverting as true.");
#endif
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
}
else { // measure active signal length
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
servo[probe_index].move(z_servo_angle[0]); // deploy
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
safe_delay(500);
SERIAL_PROTOCOLLNPGM("please trigger probe");
uint16_t probe_counter = 0;
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
// Allow 30 seconds max for operator to trigger probe
for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
safe_delay(2);
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
if (0 == j % (500 * 1)) // keep cmd_timeout happy
refresh_cmd_timeout();
if (deploy_state != digitalRead(PROBE_TEST_PIN)) { // probe triggered
for (probe_counter = 1; probe_counter < 50 && deploy_state != digitalRead(PROBE_TEST_PIN); ++probe_counter)
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
safe_delay(2);
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
if (probe_counter == 50)
SERIAL_PROTOCOLLNPGM("Z Servo Probe detected"); // >= 100mS active time
else if (probe_counter >= 2)
SERIAL_PROTOCOLLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2); // allow 4 - 100mS pulse
else
SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
servo[probe_index].move(z_servo_angle[1]); //stow
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
} // pulse detected
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
} // for loop waiting for trigger
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
if (probe_counter == 0) SERIAL_PROTOCOLLNPGM("trigger not detected");
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
} // measure active signal length
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
#endif
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
Formatting / cleanup
2017-04-08 06:53:22 +00:00
} // servo_probe_test
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
/**
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
* M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report
*
* M43 - report name and state of pin(s)
* P<pin> Pin to read or watch. If omitted, reads all pins.
* I Flag to ignore Marlin's pin protection.
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
*
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
* M43 W - Watch pins -reporting changes- until reset, click, or M108.
* P<pin> Pin to read or watch. If omitted, read/watch all pins.
* I Flag to ignore Marlin's pin protection.
Some cleanup to M43
2016-10-31 01:10:17 +00:00
*
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
* M43 E<bool> - Enable / disable background endstop monitoring
* - Machine continues to operate
* - Reports changes to endstops
* - Toggles LED when an endstop changes
* - Can not reliably catch the 5mS pulse from BLTouch type probes
Some cleanup to M43
2016-10-31 01:10:17 +00:00
*
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
* M43 T - Toggle pin(s) and report which pin is being toggled
* S<pin> - Start Pin number. If not given, will default to 0
* L<pin> - End Pin number. If not given, will default to last pin defined for this board
* I - Flag to ignore Marlin's pin protection. Use with caution!!!!
* R - Repeat pulses on each pin this number of times before continueing to next pin
* W - Wait time (in miliseconds) between pulses. If not given will default to 500
Add endstop monitor & make pins report pretty
2016-10-29 18:42:43 +00:00
*
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
* M43 S - Servo probe test
* P<index> - Probe index (optional - defaults to 0
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
*/
inline void gcode_M43() {
Some cleanup to M43
2016-10-31 01:10:17 +00:00
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
if (code_seen('T')) { // must be first ot else it's "S" and "E" parameters will execute endstop or servo test
toggle_pins();
return;
}
Some cleanup to M43
2016-10-31 01:10:17 +00:00
// Enable or disable endstop monitoring
if (code_seen('E')) {
endstop_monitor_flag = code_value_bool();
SERIAL_PROTOCOLPGM("endstop monitor ");
SERIAL_PROTOCOL(endstop_monitor_flag ? "en" : "dis");
SERIAL_PROTOCOLLNPGM("abled");
return;
}
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
if (code_seen('S')) {
servo_probe_test();
return;
}
Some cleanup to M43
2016-10-31 01:10:17 +00:00
// Get the range of pins to test or watch
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
const uint8_t first_pin = code_seen('P') ? code_value_byte() : 0,
last_pin = code_seen('P') ? first_pin : NUM_DIGITAL_PINS - 1;
if (first_pin > last_pin) return;
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
const bool ignore_protection = code_seen('I') && code_value_bool();
Some cleanup to M43
2016-10-31 01:10:17 +00:00
// Watch until click, M108, or reset
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
if (code_seen('W') && code_value_bool()) {
add Z servo test and toggle pins to M43
2017-04-02 19:18:59 +00:00
SERIAL_PROTOCOLLNPGM("Watching pins");
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
byte pin_state[last_pin - first_pin + 1];
for (int8_t pin = first_pin; pin <= last_pin; pin++) {
Some cleanup to M43
2016-10-31 01:10:17 +00:00
if (pin_is_protected(pin) && !ignore_protection) continue;
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
pinMode(pin, INPUT_PULLUP);
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
/*
if (IS_ANALOG(pin))
pin_state[pin - first_pin] = analogRead(pin - analogInputToDigitalPin(0)); // int16_t pin_state[...]
else
//*/
pin_state[pin - first_pin] = digitalRead(pin);
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
}
Add HAS_RESUME_CONTINUE shorthand macro
2017-04-09 16:12:08 +00:00
#if HAS_RESUME_CONTINUE
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
wait_for_user = true;
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
KEEPALIVE_STATE(PAUSED_FOR_USER);
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
#endif
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
for (;;) {
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
for (int8_t pin = first_pin; pin <= last_pin; pin++) {
if (pin_is_protected(pin)) continue;
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
const byte val =
/*
IS_ANALOG(pin)
? analogRead(pin - analogInputToDigitalPin(0)) : // int16_t val
:
//*/
digitalRead(pin);
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
if (val != pin_state[pin - first_pin]) {
report_pin_state(pin);
pin_state[pin - first_pin] = val;
}
}
Add HAS_RESUME_CONTINUE shorthand macro
2017-04-09 16:12:08 +00:00
#if HAS_RESUME_CONTINUE
Cleanup of pins testing code
2017-04-18 19:37:10 +00:00
if (!wait_for_user) {
KEEPALIVE_STATE(IN_HANDLER);
break;
}
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
#endif
safe_delay(500);
}
Some cleanup to M43
2016-10-31 01:10:17 +00:00
return;
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
}
Some cleanup to M43
2016-10-31 01:10:17 +00:00
// Report current state of selected pin(s)
for (uint8_t pin = first_pin; pin <= last_pin; pin++)
report_pin_state_extended(pin, ignore_protection);
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
}
#endif // PINS_DEBUGGING
Allow Z_MIN_PROBE_REPEATABILITY_TEST solo
2016-06-21 08:28:36 +00:00
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Update ABL comments (PR#95) * Updates the auto bed leveling comments ONLY. * Renames "Z probe" word usage in //comments and #errors properly.
2015-08-20 14:07:55 +00:00
* M48: Z probe repeatability measurement function.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*
* Usage:
Fixed M48 mismatch between n and P parameter on documentation
2015-04-15 16:17:58 +00:00
* M48 <P#> <X#> <Y#> <V#> <E> <L#>
Fix G29 E and M48 n - Users prefer `G29 E` to work like `M48 E` so fixed that - `M48 n` replaced with `M48 P` (or `p`). `n` legacy support - Shorten some strings to save precious bytes - Smaller code for 3-point probing
2015-03-30 01:56:09 +00:00
* P = Number of sampled points (4-50, default 10)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
* X = Sample X position
* Y = Sample Y position
* V = Verbose level (0-4, default=1)
Update ABL comments (PR#95) * Updates the auto bed leveling comments ONLY. * Renames "Z probe" word usage in //comments and #errors properly.
2015-08-20 14:07:55 +00:00
* E = Engage Z probe for each reading
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
* L = Number of legs of movement before probe
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
* S = Schizoid (Or Star if you prefer)
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
*
Fix G28 homing Y with X - Fixed a typo causing G28 to home incorrectly - Added documentation to G28 - Added homeXYZ bools to neaten the code - Added a note about home_offsets being questionable
2015-03-30 01:06:59 +00:00
* This function assumes the bed has been homed. Specifically, that a G28 command
Update ABL comments (PR#95) * Updates the auto bed leveling comments ONLY. * Renames "Z probe" word usage in //comments and #errors properly.
2015-08-20 14:07:55 +00:00
* as been issued prior to invoking the M48 Z probe repeatability measurement function.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
* Any information generated by a prior G29 Bed leveling command will be lost and need to be
* regenerated.
*/
inline void gcode_M48() {
More constraint on axis_unhomed_error
2017-05-14 20:57:37 +00:00
if (axis_unhomed_error()) return;
Check for known position in `M48`
2016-03-03 03:55:01 +00:00
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
const int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
Add and apply WITHIN macro
2017-03-31 14:00:49 +00:00
if (!WITHIN(verbose_level, 0, 4)) {
Various improvements - mostly UBL-related (#6607) UBL Clean up.
2017-05-06 23:59:16 +00:00
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
return;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Remove M48 credits also
2015-03-06 22:54:30 +00:00
if (verbose_level > 0)
Improve M48 output; Add min, max, range, etc.
2016-10-05 20:09:39 +00:00
SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
Add and apply WITHIN macro
2017-03-31 14:00:49 +00:00
if (!WITHIN(n_samples, 4, 50)) {
Reduce storage requirements for strings, make some PGM
2016-06-27 23:29:35 +00:00
SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
return;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Patches for leveling reactivation in G28 / M48
2017-05-01 22:34:28 +00:00
float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS];
Screen out `G29 E` for sled and allen key, allow single probe
2016-06-22 04:01:01 +00:00
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
bool stow_probe_after_each = code_seen('E');
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
float X_probe_location = code_seen('X') ? code_value_linear_units() : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
float Y_probe_location = code_seen('Y') ? code_value_linear_units() : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
#if DISABLED(DELTA)
Add and apply WITHIN macro
2017-03-31 14:00:49 +00:00
if (!WITHIN(X_probe_location, LOGICAL_X_POSITION(MIN_PROBE_X), LOGICAL_X_POSITION(MAX_PROBE_X))) {
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
out_of_range_error(PSTR("X"));
return;
}
Add and apply WITHIN macro
2017-03-31 14:00:49 +00:00
if (!WITHIN(Y_probe_location, LOGICAL_Y_POSITION(MIN_PROBE_Y), LOGICAL_Y_POSITION(MAX_PROBE_Y))) {
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
out_of_range_error(PSTR("Y"));
return;
}
#else
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
if (!position_is_reachable_by_probe_xy(X_probe_location, Y_probe_location)) {
Reduce storage requirements for strings, make some PGM
2016-06-27 23:29:35 +00:00
SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
return;
}
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
#endif
bool seen_L = code_seen('L');
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
uint8_t n_legs = seen_L ? code_value_byte() : 0;
Save and restore feedrate in more places
2016-06-22 22:49:05 +00:00
if (n_legs > 15) {
Reduce storage requirements for strings, make some PGM
2016-06-27 23:29:35 +00:00
SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
return;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
if (n_legs == 1) n_legs = 2;
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
bool schizoid_flag = code_seen('S');
if (schizoid_flag && !seen_L) n_legs = 7;
Z_PROBE_REPEATABILITY test Z_PROBE_REPEATABILITY test for Auto Bed Leveling. Implemented as M48 with extra user specified options. Full support at http://3dprintboard.com/showthread.php?2802-Auto_Bed_Leveling-Z-Probe-Repeatability-code
2014-08-09 20:37:23 +00:00
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
* Now get everything to the specified probe point So we can safely do a
* probe to get us close to the bed. If the Z-Axis is far from the bed,
* we don't want to use that as a starting point for each probe.
*/
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (verbose_level > 2)
Reduce storage requirements for strings, make some PGM
2016-06-27 23:29:35 +00:00
SERIAL_PROTOCOLLNPGM("Positioning the probe...");
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Adjust comments, spacing
2016-09-15 18:34:24 +00:00
// Disable bed level correction in M48 because we want the raw data when we probe
Patches for leveling reactivation in G28 / M48
2017-05-01 22:34:28 +00:00
#if HAS_LEVELING
const bool was_enabled =
#if ENABLED(AUTO_BED_LEVELING_UBL)
ubl.state.active
#elif ENABLED(MESH_BED_LEVELING)
mbl.active()
#else
planner.abl_enabled
#endif
;
Re-enable MBL/ABL after M48
2016-12-10 07:55:09 +00:00
set_bed_leveling_enabled(false);
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
#endif
Save and restore feedrate in more places
2016-06-22 22:49:05 +00:00
setup_for_endstop_or_probe_move();
Simplified probe_pt (in M48)
2016-06-24 02:22:45 +00:00
// Move to the first point, deploy, and probe
Some probe_pt error-handling
2017-05-15 23:32:26 +00:00
const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
if (isnan(t)) return;
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
randomSeed(millis());
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
tweak variables;
2016-10-05 23:49:05 +00:00
double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
Improve M48 output; Add min, max, range, etc.
2016-10-05 20:09:39 +00:00
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
for (uint8_t n = 0; n < n_samples; n++) {
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (n_legs) {
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
float angle = random(0.0, 360.0),
radius = random(
#if ENABLED(DELTA)
DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
#else
5, X_MAX_LENGTH / 8
#endif
);
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Starting radius: ", radius);
SERIAL_ECHOPAIR(" angle: ", angle);
Reduce storage requirements for strings, make some PGM
2016-06-27 23:29:35 +00:00
SERIAL_ECHOPGM(" Direction: ");
if (dir > 0) SERIAL_ECHOPGM("Counter-");
SERIAL_ECHOLNPGM("Clockwise");
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
}
CAB: Added code for Z-probe with Z endstop mounted on a sled.
2014-08-01 15:29:59 +00:00
Replaced SERIAL_PROTOCOLPGM(MSG_BED) with SERIAL_PROTOCOLPGM("Bed") Resolved some warnings in Marlin_main.cpp regarding compares of signed and unsigned integers by replacing 'int' or 'uint16_t' with 'uint8_t'.
2015-04-08 21:59:01 +00:00
for (uint8_t l = 0; l < n_legs - 1; l++) {
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
double delta_angle;
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
if (schizoid_flag)
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
// The points of a 5 point star are 72 degrees apart. We need to
// skip a point and go to the next one on the star.
delta_angle = dir * 2.0 * 72.0;
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
else
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
// If we do this line, we are just trying to move further
// around the circle.
delta_angle = dir * (float) random(25, 45);
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
angle += delta_angle;
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
angle -= 360.0; // Arduino documentation says the trig functions should not be given values
while (angle < 0.0) // outside of this range. It looks like they behave correctly with
angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
Wrap defines in parentheses in configs, M48
2016-04-16 21:35:22 +00:00
X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
#if DISABLED(DELTA)
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
#else
// If we have gone out too far, we can do a simple fix and scale the numbers
// back in closer to the origin.
UBL-related cleanup, spacing, standards Reference: #6804
2017-05-21 10:28:38 +00:00
while (!position_is_reachable_by_probe_xy(X_current, Y_current)) {
Use multiply for delta probe constraint
2017-04-11 12:31:33 +00:00
X_current *= 0.8;
Y_current *= 0.8;
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR(", ", Y_current);
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
}
}
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (verbose_level > 3) {
Reduce storage requirements for strings, make some PGM
2016-06-27 23:29:35 +00:00
SERIAL_PROTOCOLPGM("Going to:");
SERIAL_ECHOPAIR(" X", X_current);
SERIAL_ECHOPAIR(" Y", Y_current);
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
}
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
do_blocking_move_to_xy(X_current, Y_current);
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
} // n_legs loop
} // n_legs
If you have a switch on suicide pin, this is useful if you want to start another print with suicide feature after a print without suicide...
2013-11-04 11:04:04 +00:00
Adjust M48 raise / move handling
2016-06-18 10:16:13 +00:00
// Probe a single point
Improve M48 output; Add min, max, range, etc.
2016-10-05 20:09:39 +00:00
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
* Get the current mean for the data points we have so far
*/
Just-in-time declaration style in M48
2016-06-18 08:41:57 +00:00
double sum = 0.0;
Replaced SERIAL_PROTOCOLPGM(MSG_BED) with SERIAL_PROTOCOLPGM("Bed") Resolved some warnings in Marlin_main.cpp regarding compares of signed and unsigned integers by replacing 'int' or 'uint16_t' with 'uint8_t'.
2015-04-08 21:59:01 +00:00
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
mean = sum / (n + 1);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Use some macros in M48
2016-10-09 17:21:05 +00:00
NOMORE(min, sample_set[n]);
NOLESS(max, sample_set[n]);
Improve M48 output; Add min, max, range, etc.
2016-10-05 20:09:39 +00:00
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
* Now, use that mean to calculate the standard deviation for the
* data points we have so far
*/
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
sum = 0.0;
Apply sq macro throughout
2016-07-16 01:50:25 +00:00
for (uint8_t j = 0; j <= n; j++)
sum += sq(sample_set[j] - mean);
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
sigma = sqrt(sum / (n + 1));
Tweak M48 output conditions
2016-06-18 22:38:15 +00:00
if (verbose_level > 0) {
if (verbose_level > 1) {
SERIAL_PROTOCOL(n + 1);
SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOL((int)n_samples);
Improve M48 output; Add min, max, range, etc.
2016-10-05 20:09:39 +00:00
SERIAL_PROTOCOLPGM(": z: ");
SERIAL_PROTOCOL_F(sample_set[n], 3);
Tweak M48 output conditions
2016-06-18 22:38:15 +00:00
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(" mean: ");
Improve M48 output; Add min, max, range, etc.
2016-10-05 20:09:39 +00:00
SERIAL_PROTOCOL_F(mean, 4);
SERIAL_PROTOCOLPGM(" sigma: ");
Tweak M48 output conditions
2016-06-18 22:38:15 +00:00
SERIAL_PROTOCOL_F(sigma, 6);
Improve M48 output; Add min, max, range, etc.
2016-10-05 20:09:39 +00:00
SERIAL_PROTOCOLPGM(" min: ");
SERIAL_PROTOCOL_F(min, 3);
SERIAL_PROTOCOLPGM(" max: ");
SERIAL_PROTOCOL_F(max, 3);
SERIAL_PROTOCOLPGM(" range: ");
SERIAL_PROTOCOL_F(max-min, 3);
Tweak M48 output conditions
2016-06-18 22:38:15 +00:00
}
Update Marlin_main.cpp Remove unnecessary line break from M48 V1 output.
2017-03-04 17:58:10 +00:00
SERIAL_EOL;
Fix homing and leveling - Include the current Z when raising the axis after and between probing - Add `sync_plan_position_delta` for parity with `sync_plan_position` - Clean up and clarify `M48`, `dock_sled`, and others
2015-04-01 01:52:19 +00:00
}
Fixed error found by the free coverity tool (https://scan.coverity.com/) =================================================== Hi, Please find the latest report on new defect(s) introduced to ErikZalm/Marlin found with Coverity Scan. Defect(s) Reported-by: Coverity Scan Showing 15 of 15 defect(s) ** CID 59629: Unchecked return value (CHECKED_RETURN) /Marlin_main.cpp: 2154 in process_commands()() ** CID 59630: Operands don't affect result (CONSTANT_EXPRESSION_RESULT) /Applications/Arduino.app/Contents/Resources/Java/hardware/arduino/cores/arduino/Tone.cpp: 319 in tone(unsigned char, unsigned int, unsigned long)() ** CID 59631: Missing break in switch (MISSING_BREAK) /Marlin_main.cpp: 1187 in process_commands()() ** CID 59632: Missing break in switch (MISSING_BREAK) /Marlin_main.cpp: 1193 in process_commands()() ** CID 59633: Out-of-bounds write (OVERRUN) /temperature.cpp: 914 in disable_heater()() ** CID 59634: Out-of-bounds write (OVERRUN) /temperature.cpp: 913 in disable_heater()() ** CID 59635: Out-of-bounds read (OVERRUN) /temperature.cpp: 626 in analog2temp(int, unsigned char)() ** CID 59636: Out-of-bounds read (OVERRUN) /temperature.cpp: 620 in analog2temp(int, unsigned char)() ** CID 59637: Out-of-bounds write (OVERRUN) /temperature.cpp: 202 in PID_autotune(float, int, int)() ** CID 59638: Out-of-bounds read (OVERRUN) /temperature.cpp: 214 in PID_autotune(float, int, int)() ** CID 59639: Out-of-bounds write (OVERRUN) /Marlin_main.cpp: 2278 in process_commands()() ** CID 59640: Out-of-bounds read (OVERRUN) /Marlin_main.cpp: 1802 in process_commands()() ** CID 59641: Uninitialized scalar field (UNINIT_CTOR) /Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 51 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)() ** CID 59642: Uninitialized scalar field (UNINIT_CTOR) /Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 45 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)() ** CID 59643: Uninitialized scalar field (UNINIT_CTOR) /Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 32 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)() ________________________________________________________________________________________________________ *** CID 59629: Unchecked return value (CHECKED_RETURN) /Marlin_main.cpp: 2154 in process_commands()() 2148 } 2149 #endif 2150 } 2151 } 2152 break; 2153 case 85: // M85 CID 59629: Unchecked return value (CHECKED_RETURN) Calling "code_seen" without checking return value (as is done elsewhere 66 out of 67 times). 2154 code_seen('S'); 2155 max_inactive_time = code_value() * 1000; 2156 break; 2157 case 92: // M92 2158 for(int8_t i=0; i < NUM_AXIS; i++) 2159 { ________________________________________________________________________________________________________ *** CID 59630: Operands don't affect result (CONSTANT_EXPRESSION_RESULT) /Applications/Arduino.app/Contents/Resources/Java/hardware/arduino/cores/arduino/Tone.cpp: 319 in tone(unsigned char, unsigned int, unsigned long)() 313 else 314 { 315 // two choices for the 16 bit timers: ck/1 or ck/64 316 ocr = F_CPU / frequency / 2 - 1; 317 318 prescalarbits = 0b001; CID 59630: Operands don't affect result (CONSTANT_EXPRESSION_RESULT) "ocr > 65535U" is always false regardless of the values of its operands. This occurs as the logical operand of if. 319 if (ocr > 0xffff) 320 { 321 ocr = F_CPU / frequency / 2 / 64 - 1; 322 prescalarbits = 0b011; 323 } 324 ________________________________________________________________________________________________________ *** CID 59631: Missing break in switch (MISSING_BREAK) /Marlin_main.cpp: 1187 in process_commands()() 1181 case 2: // G2 - CW ARC 1182 if(Stopped == false) { 1183 get_arc_coordinates(); 1184 prepare_arc_move(true); 1185 return; 1186 } CID 59631: Missing break in switch (MISSING_BREAK) The above case falls through to this one. 1187 case 3: // G3 - CCW ARC 1188 if(Stopped == false) { 1189 get_arc_coordinates(); 1190 prepare_arc_move(false); 1191 return; 1192 } ________________________________________________________________________________________________________ *** CID 59632: Missing break in switch (MISSING_BREAK) /Marlin_main.cpp: 1193 in process_commands()() 1187 case 3: // G3 - CCW ARC 1188 if(Stopped == false) { 1189 get_arc_coordinates(); 1190 prepare_arc_move(false); 1191 return; 1192 } CID 59632: Missing break in switch (MISSING_BREAK) The above case falls through to this one. 1193 case 4: // G4 dwell 1194 LCD_MESSAGEPGM(MSG_DWELL); 1195 codenum = 0; 1196 if(code_seen('P')) codenum = code_value(); // milliseconds to wait 1197 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait 1198 ________________________________________________________________________________________________________ *** CID 59633: Out-of-bounds write (OVERRUN) /temperature.cpp: 914 in disable_heater()() 908 WRITE(HEATER_0_PIN,LOW); 909 #endif 910 #endif 911 912 #if defined(TEMP_1_PIN) && TEMP_1_PIN > -1 913 target_temperature[1]=0; CID 59633: Out-of-bounds write (OVERRUN) Overrunning array "soft_pwm" of 1 bytes at byte offset 1 using index "1". 914 soft_pwm[1]=0; 915 #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 916 WRITE(HEATER_1_PIN,LOW); 917 #endif 918 #endif 919 ________________________________________________________________________________________________________ *** CID 59634: Out-of-bounds write (OVERRUN) /temperature.cpp: 913 in disable_heater()() 907 #if defined(HEATER_0_PIN) && HEATER_0_PIN > -1 908 WRITE(HEATER_0_PIN,LOW); 909 #endif 910 #endif 911 912 #if defined(TEMP_1_PIN) && TEMP_1_PIN > -1 CID 59634: Out-of-bounds write (OVERRUN) Overrunning array "target_temperature" of 1 2-byte elements at element index 1 (byte offset 2) using index "1". 913 target_temperature[1]=0; 914 soft_pwm[1]=0; 915 #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 916 WRITE(HEATER_1_PIN,LOW); 917 #endif 918 #endif ________________________________________________________________________________________________________ *** CID 59635: Out-of-bounds read (OVERRUN) /temperature.cpp: 626 in analog2temp(int, unsigned char)() 620 if(heater_ttbl_map[e] != NULL) 621 { 622 float celsius = 0; 623 uint8_t i; 624 short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]); 625 CID 59635: Out-of-bounds read (OVERRUN) Overrunning array "heater_ttbllen_map" of 1 bytes at byte offset 1 using index "e" (which evaluates to 1). 626 for (i=1; i<heater_ttbllen_map[e]; i++) 627 { 628 if (PGM_RD_W((*tt)[i][0]) > raw) 629 { 630 celsius = PGM_RD_W((*tt)[i-1][1]) + 631 (raw - PGM_RD_W((*tt)[i-1][0])) * ________________________________________________________________________________________________________ *** CID 59636: Out-of-bounds read (OVERRUN) /temperature.cpp: 620 in analog2temp(int, unsigned char)() 614 if (e == 0) 615 { 616 return 0.25 * raw; 617 } 618 #endif 619 CID 59636: Out-of-bounds read (OVERRUN) Overrunning array "heater_ttbl_map" of 1 2-byte elements at element index 1 (byte offset 2) using index "e" (which evaluates to 1). 620 if(heater_ttbl_map[e] != NULL) 621 { 622 float celsius = 0; 623 uint8_t i; 624 short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]); 625 ________________________________________________________________________________________________________ *** CID 59637: Out-of-bounds write (OVERRUN) /temperature.cpp: 202 in PID_autotune(float, int, int)() 196 { 197 soft_pwm_bed = (MAX_BED_POWER)/2; 198 bias = d = (MAX_BED_POWER)/2; 199 } 200 else 201 { CID 59637: Out-of-bounds write (OVERRUN) Overrunning array "soft_pwm" of 1 bytes at byte offset 1 using index "extruder" (which evaluates to 1). 202 soft_pwm[extruder] = (PID_MAX)/2; 203 bias = d = (PID_MAX)/2; 204 } 205 206 207 ________________________________________________________________________________________________________ *** CID 59638: Out-of-bounds read (OVERRUN) /temperature.cpp: 214 in PID_autotune(float, int, int)() 208 209 for(;;) { 210 211 if(temp_meas_ready == true) { // temp sample ready 212 updateTemperaturesFromRawValues(); 213 CID 59638: Out-of-bounds read (OVERRUN) Overrunning array "current_temperature" of 1 4-byte elements at element index 1 (byte offset 4) using index "extruder" (which evaluates to 1). 214 input = (extruder<0)?current_temperature_bed:current_temperature[extruder]; 215 216 max=max(max,input); 217 min=min(min,input); 218 if(heating == true && input > temp) { 219 if(millis() - t2 > 5000) { ________________________________________________________________________________________________________ *** CID 59639: Out-of-bounds write (OVERRUN) /Marlin_main.cpp: 2278 in process_commands()() 2272 tmp_extruder = code_value(); 2273 if(tmp_extruder >= EXTRUDERS) { 2274 SERIAL_ECHO_START; 2275 SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER); 2276 } 2277 } CID 59639: Out-of-bounds write (OVERRUN) Overrunning array "volumetric_multiplier" of 1 4-byte elements at element index 1 (byte offset 4) using index "tmp_extruder" (which evaluates to 1). 2278 volumetric_multiplier[tmp_extruder] = 1 / area; 2279 } 2280 break; 2281 case 201: // M201 2282 for(int8_t i=0; i < NUM_AXIS; i++) 2283 { ________________________________________________________________________________________________________ *** CID 59640: Out-of-bounds read (OVERRUN) /Marlin_main.cpp: 1802 in process_commands()() 1796 int pin_status = code_value(); 1797 int pin_number = LED_PIN; 1798 if (code_seen('P') && pin_status >= 0 && pin_status <= 255) 1799 pin_number = code_value(); 1800 for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++) 1801 { CID 59640: Out-of-bounds read (OVERRUN) Overrunning array "sensitive_pins" of 28 2-byte elements at element index 55 (byte offset 110) using index "i" (which evaluates to 55). 1802 if (sensitive_pins[i] == pin_number) 1803 { 1804 pin_number = -1; 1805 break; 1806 } 1807 } ________________________________________________________________________________________________________ *** CID 59641: Uninitialized scalar field (UNINIT_CTOR) /Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 51 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)() 45 } 46 47 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable, 48 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3) 49 { 50 init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0); CID 59641: Uninitialized scalar field (UNINIT_CTOR) Non-static class member "_initialized" is not initialized in this constructor nor in any functions that it calls. 51 } 52 53 void LiquidCrystal::init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable, 54 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, 55 uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) 56 { ________________________________________________________________________________________________________ *** CID 59642: Uninitialized scalar field (UNINIT_CTOR) /Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 45 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)() 39 } 40 41 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, 42 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3) 43 { 44 init(1, rs, rw, enable, d0, d1, d2, d3, 0, 0, 0, 0); CID 59642: Uninitialized scalar field (UNINIT_CTOR) Non-static class member "_initialized" is not initialized in this constructor nor in any functions that it calls. 45 } 46 47 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable, 48 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3) 49 { 50 init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0); ________________________________________________________________________________________________________ *** CID 59643: Uninitialized scalar field (UNINIT_CTOR) /Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 32 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)() 26 27 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, 28 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, 29 uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) 30 { 31 init(0, rs, rw, enable, d0, d1, d2, d3, d4, d5, d6, d7); CID 59643: Uninitialized scalar field (UNINIT_CTOR) Non-static class member "_initialized" is not initialized in this constructor nor in any functions that it calls. 32 } 33 34 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable, 35 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, 36 uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) 37 { ________________________________________________________________________________________________________ To view the defects in Coverity Scan visit, http://scan.coverity.com/projects/2224?tab=overview
2014-05-14 19:59:48 +00:00
}
Adjust M48 raise / move handling
2016-06-18 10:16:13 +00:00
} // End of probe loop
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
if (STOW_PROBE()) return;
Simplified probe_pt (in M48)
2016-06-24 02:22:45 +00:00
Improve M48 output; Add min, max, range, etc.
2016-10-05 20:09:39 +00:00
SERIAL_PROTOCOLPGM("Finished!");
SERIAL_EOL;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
Improve M48 output; Add min, max, range, etc.
2016-10-05 20:09:39 +00:00
SERIAL_PROTOCOLPGM(" Min: ");
SERIAL_PROTOCOL_F(min, 3);
SERIAL_PROTOCOLPGM(" Max: ");
SERIAL_PROTOCOL_F(max, 3);
SERIAL_PROTOCOLPGM(" Range: ");
SERIAL_PROTOCOL_F(max-min, 3);
More sanity-checking for ABL - Moved sanity-checks to Marlin_main.cpp - Applied to other configuration files - Fixed formatting of ABL output - Passing verbose level to probe_pt - Miscellaneous cleanup - Put CONFIG_STEPPERS_TOSHIBA into Configuration.h
2015-03-07 06:14:34 +00:00
SERIAL_EOL;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add Filament menu and add Filament/Retract settings to config store.
2014-12-29 01:43:14 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
Improve M48 output; Add min, max, range, etc.
2016-10-05 20:09:39 +00:00
SERIAL_EOL;
SERIAL_EOL;
Updated M48 friendly for DELTA Partial implementation with reference to MarlinFirmware/Marlin#3011
2016-02-28 04:49:49 +00:00
Split up endstop_move functions
2016-06-21 22:32:28 +00:00
clean_up_after_endstop_or_probe_move();
Added gplv3 header to all Marlin files
2016-03-24 18:01:20 +00:00
Patches for leveling reactivation in G28 / M48
2017-05-01 22:34:28 +00:00
// Re-enable bed level correction if it had been on
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
#if HAS_LEVELING
Patches for leveling reactivation in G28 / M48
2017-05-01 22:34:28 +00:00
set_bed_leveling_enabled(was_enabled);
Get UBL up and running again All the changes to get the code into compliance with Marlin coding standards made UBL sick. This pretty much gets UBL back up and running.
2017-03-23 20:56:38 +00:00
#endif
Call report_current_position instead of gcode_M114 directly
2016-04-26 01:23:09 +00:00
report_current_position();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add Filament menu and add Filament/Retract settings to config store.
2014-12-29 01:43:14 +00:00
Allow Z_MIN_PROBE_REPEATABILITY_TEST solo
2016-06-21 08:28:36 +00:00
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Update Configuration.h files to better names (#6814) Changed UBL_G26_MESH_EDITING to UBL_G26_MESH_VALIDATION Added UBL_MESH_EDIT_MOVES_Z to prepare for that change (coming next)
2017-05-21 16:10:22 +00:00
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
Patches to bring UBL closer to compliance
2017-03-24 05:53:37 +00:00
inline void gcode_M49() {
Toggle with XOR
2017-04-09 12:58:47 +00:00
ubl.g26_debug_flag ^= true;
Patches to bring UBL closer to compliance
2017-03-24 05:53:37 +00:00
SERIAL_PROTOCOLPGM("UBL Debug Flag turned ");
Further repairs to UBL, comments, spacing
2017-03-31 02:32:50 +00:00
serialprintPGM(ubl.g26_debug_flag ? PSTR("on.") : PSTR("off."));
Patches to bring UBL closer to compliance
2017-03-24 05:53:37 +00:00
}
Update Configuration.h files to better names (#6814) Changed UBL_G26_MESH_EDITING to UBL_G26_MESH_VALIDATION Added UBL_MESH_EDIT_MOVES_Z to prepare for that change (coming next)
2017-05-21 16:10:22 +00:00
#endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION
Patches to bring UBL closer to compliance
2017-03-24 05:53:37 +00:00
Implemented M75, M76, M77 to control the print timer
2016-04-06 03:38:42 +00:00
/**
* M75: Start print timer
*/
Adds an option to disable print job timer auto start
2016-05-14 21:04:53 +00:00
inline void gcode_M75() { print_job_timer.start(); }
Implemented M75, M76, M77 to control the print timer
2016-04-06 03:38:42 +00:00
/**
* M76: Pause print timer
*/
Adds an option to disable print job timer auto start
2016-05-14 21:04:53 +00:00
inline void gcode_M76() { print_job_timer.pause(); }
Implemented M75, M76, M77 to control the print timer
2016-04-06 03:38:42 +00:00
/**
* M77: Stop print timer
*/
Adds an option to disable print job timer auto start
2016-05-14 21:04:53 +00:00
inline void gcode_M77() { print_job_timer.stop(); }
Implemented M75, M76, M77 to control the print timer
2016-04-06 03:38:42 +00:00
Added new G-Code: M78
2016-04-27 01:13:27 +00:00
#if ENABLED(PRINTCOUNTER)
Comment section style correction
2016-07-19 02:27:42 +00:00
/**
Added new G-Code: M78
2016-04-27 01:13:27 +00:00
* M78: Show print statistics
*/
inline void gcode_M78() {
M78 now allows stats reset using the S78 argument
2016-05-14 21:02:30 +00:00
// "M78 S78" will reset the statistics
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('S') && code_value_int() == 78)
M78 now allows stats reset using the S78 argument
2016-05-14 21:02:30 +00:00
print_job_timer.initStats();
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
else
print_job_timer.showStats();
Added new G-Code: M78
2016-04-27 01:13:27 +00:00
}
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M104: Set hot end temperature
*/
inline void gcode_M104() {
setTargetedHotend => get_target_extruder_from_command
2016-04-18 07:01:28 +00:00
if (get_target_extruder_from_command(104)) return;
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(DRYRUN)) return;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
With SINGLENOZZLE only set temperature for the active tool
2016-05-30 07:42:26 +00:00
#if ENABLED(SINGLENOZZLE)
if (target_extruder != active_extruder) return;
#endif
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
if (code_seen('S')) {
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
const int16_t temp = code_value_temp_abs();
thermalManager.setTargetHotend(temp, target_extruder);
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
#endif
M104 was not starting the print timer
2016-03-30 10:33:24 +00:00
Adds an option to disable print job timer auto start
2016-05-14 21:04:53 +00:00
#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
/**
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
* Stop the timer at the end of print. Start is managed by 'heat and wait' M109.
Adds an option to disable print job timer auto start
2016-05-14 21:04:53 +00:00
* We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
* standby mode, for instance in a dual extruder setup, without affecting
Adds an option to disable print job timer auto start
2016-05-14 21:04:53 +00:00
* the running print timer.
*/
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
if (code_value_temp_abs() <= (EXTRUDE_MINTEMP) / 2) {
Adds an option to disable print job timer auto start
2016-05-14 21:04:53 +00:00
print_job_timer.stop();
LCD_MESSAGEPGM(WELCOME_MSG);
}
#endif
Rework the print job timer to use the stopwatch class
2016-04-06 03:34:03 +00:00
Temp-related cosmetic changes
2017-05-21 09:49:25 +00:00
if (code_value_temp_abs() > thermalManager.degHotend(target_extruder))
lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
}
Remove unnecessary tabs and spaces
2016-12-15 15:21:32 +00:00
Add autotemp capabilities to M104 This allows M104 to pass the F and B parameters to enable autotemp as well
2016-11-14 10:29:45 +00:00
#if ENABLED(AUTOTEMP)
planner.autotemp_M104_M109();
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add HAS_TEMP_HOTEND define
2016-04-03 23:18:49 +00:00
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Host parseble output for M109, M190 and M303 Make the output of M105 more similar to Repetier. Make the text-print pert of M105 an extra function to make it reusable. `print_heaterstates()` Use `print_heaterstates()` in M019, M190 and M303
2015-11-09 23:02:11 +00:00
void print_heaterstates() {
Add HAS_TEMP_HOTEND define
2016-04-03 23:18:49 +00:00
#if HAS_TEMP_HOTEND
Upstream commits, allow no extruder in M105
2015-04-04 02:16:38 +00:00
SERIAL_PROTOCOLPGM(" T:");
fix error in M105 output -- use SERIAL_PROTOCOL for ints instead of SERIAL_PROTOCOL_F (#6584) also removed wayward 'address of' ampersand in setTargetHotend and setTargetBed parameters
2017-05-04 21:09:45 +00:00
SERIAL_PROTOCOL(thermalManager.degHotend(target_extruder));
Upstream commits, allow no extruder in M105
2015-04-04 02:16:38 +00:00
SERIAL_PROTOCOLPGM(" /");
fix error in M105 output -- use SERIAL_PROTOCOL for ints instead of SERIAL_PROTOCOL_F (#6584) also removed wayward 'address of' ampersand in setTargetHotend and setTargetBed parameters
2017-05-04 21:09:45 +00:00
SERIAL_PROTOCOL(thermalManager.degTargetHotend(target_extruder));
Show ADC values inline rather than after
2016-07-28 23:02:54 +00:00
#if ENABLED(SHOW_TEMP_ADC_VALUES)
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
SERIAL_PROTOCOLPAIR(" (", thermalManager.rawHotendTemp(target_extruder) / OVERSAMPLENR);
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
SERIAL_PROTOCOLCHAR(')');
Show ADC values inline rather than after
2016-07-28 23:02:54 +00:00
#endif
Upstream commits, allow no extruder in M105
2015-04-04 02:16:38 +00:00
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_TEMP_BED
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
SERIAL_PROTOCOLPGM(" B:");
fix error in M105 output -- use SERIAL_PROTOCOL for ints instead of SERIAL_PROTOCOL_F (#6584) also removed wayward 'address of' ampersand in setTargetHotend and setTargetBed parameters
2017-05-04 21:09:45 +00:00
SERIAL_PROTOCOL(thermalManager.degBed());
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
SERIAL_PROTOCOLPGM(" /");
fix error in M105 output -- use SERIAL_PROTOCOL for ints instead of SERIAL_PROTOCOL_F (#6584) also removed wayward 'address of' ampersand in setTargetHotend and setTargetBed parameters
2017-05-04 21:09:45 +00:00
SERIAL_PROTOCOL(thermalManager.degTargetBed());
Show ADC values inline rather than after
2016-07-28 23:02:54 +00:00
#if ENABLED(SHOW_TEMP_ADC_VALUES)
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
SERIAL_PROTOCOLPAIR(" (", thermalManager.rawBedTemp() / OVERSAMPLENR);
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
SERIAL_PROTOCOLCHAR(')');
Show ADC values inline rather than after
2016-07-28 23:02:54 +00:00
#endif
Clarify thermal_runaway_protection - Add comments documenting `thermal_runaway_protection` - Add an enum for the thermal runaway states - Add macros for temperature helper functions - Fix a glitch with the z probe sled in homeaxis
2015-04-02 12:10:14 +00:00
#endif
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
#if HOTENDS > 1
Further reduction when HOTENDS == 1
2016-07-10 04:11:17 +00:00
HOTEND_LOOP() {
Fix output of heater states
2016-07-28 21:51:18 +00:00
SERIAL_PROTOCOLPAIR(" T", e);
Host parseble output for M109, M190 and M303 Make the output of M105 more similar to Repetier. Make the text-print pert of M105 an extra function to make it reusable. `print_heaterstates()` Use `print_heaterstates()` in M019, M190 and M303
2015-11-09 23:02:11 +00:00
SERIAL_PROTOCOLCHAR(':');
fix error in M105 output -- use SERIAL_PROTOCOL for ints instead of SERIAL_PROTOCOL_F (#6584) also removed wayward 'address of' ampersand in setTargetHotend and setTargetBed parameters
2017-05-04 21:09:45 +00:00
SERIAL_PROTOCOL(thermalManager.degHotend(e));
Host parseble output for M109, M190 and M303 Make the output of M105 more similar to Repetier. Make the text-print pert of M105 an extra function to make it reusable. `print_heaterstates()` Use `print_heaterstates()` in M019, M190 and M303
2015-11-09 23:02:11 +00:00
SERIAL_PROTOCOLPGM(" /");
fix error in M105 output -- use SERIAL_PROTOCOL for ints instead of SERIAL_PROTOCOL_F (#6584) also removed wayward 'address of' ampersand in setTargetHotend and setTargetBed parameters
2017-05-04 21:09:45 +00:00
SERIAL_PROTOCOL(thermalManager.degTargetHotend(e));
Show ADC values inline rather than after
2016-07-28 23:02:54 +00:00
#if ENABLED(SHOW_TEMP_ADC_VALUES)
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
SERIAL_PROTOCOLPAIR(" (", thermalManager.rawHotendTemp(e) / OVERSAMPLENR);
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
SERIAL_PROTOCOLCHAR(')');
Show ADC values inline rather than after
2016-07-28 23:02:54 +00:00
#endif
Host parseble output for M109, M190 and M303 Make the output of M105 more similar to Repetier. Make the text-print pert of M105 an extra function to make it reusable. `print_heaterstates()` Use `print_heaterstates()` in M019, M190 and M303
2015-11-09 23:02:11 +00:00
}
#endif
Show power output in same order as temp output
2016-07-28 23:03:16 +00:00
SERIAL_PROTOCOLPGM(" @:");
Deprecate EXTRUDER_WATTS and BED_WATTS
2016-07-29 22:14:13 +00:00
SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
Host parseble output for M109, M190 and M303 Make the output of M105 more similar to Repetier. Make the text-print pert of M105 an extra function to make it reusable. `print_heaterstates()` Use `print_heaterstates()` in M019, M190 and M303
2015-11-09 23:02:11 +00:00
#if HAS_TEMP_BED
SERIAL_PROTOCOLPGM(" B@:");
Deprecate EXTRUDER_WATTS and BED_WATTS
2016-07-29 22:14:13 +00:00
SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
Host parseble output for M109, M190 and M303 Make the output of M105 more similar to Repetier. Make the text-print pert of M105 an extra function to make it reusable. `print_heaterstates()` Use `print_heaterstates()` in M019, M190 and M303
2015-11-09 23:02:11 +00:00
#endif
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
#if HOTENDS > 1
Further reduction when HOTENDS == 1
2016-07-10 04:11:17 +00:00
HOTEND_LOOP() {
Fix output of heater states
2016-07-28 21:51:18 +00:00
SERIAL_PROTOCOLPAIR(" @", e);
Host parseble output for M109, M190 and M303 Make the output of M105 more similar to Repetier. Make the text-print pert of M105 an extra function to make it reusable. `print_heaterstates()` Use `print_heaterstates()` in M019, M190 and M303
2015-11-09 23:02:11 +00:00
SERIAL_PROTOCOLCHAR(':');
Deprecate EXTRUDER_WATTS and BED_WATTS
2016-07-29 22:14:13 +00:00
SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
Host parseble output for M109, M190 and M303 Make the output of M105 more similar to Repetier. Make the text-print pert of M105 an extra function to make it reusable. `print_heaterstates()` Use `print_heaterstates()` in M019, M190 and M303
2015-11-09 23:02:11 +00:00
}
#endif
}
#endif
/**
* M105: Read hot end and bed temperature
*/
inline void gcode_M105() {
setTargetedHotend => get_target_extruder_from_command
2016-04-18 07:01:28 +00:00
if (get_target_extruder_from_command(105)) return;
Host parseble output for M109, M190 and M303 Make the output of M105 more similar to Repetier. Make the text-print pert of M105 an extra function to make it reusable. `print_heaterstates()` Use `print_heaterstates()` in M019, M190 and M303
2015-11-09 23:02:11 +00:00
Add HAS_TEMP_HOTEND define
2016-04-03 23:18:49 +00:00
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
Host parseble output for M109, M190 and M303 Make the output of M105 more similar to Repetier. Make the text-print pert of M105 an extra function to make it reusable. `print_heaterstates()` Use `print_heaterstates()` in M019, M190 and M303
2015-11-09 23:02:11 +00:00
SERIAL_PROTOCOLPGM(MSG_OK);
print_heaterstates();
Add HAS_TEMP_HOTEND define
2016-04-03 23:18:49 +00:00
#else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
#endif
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Clarify thermal_runaway_protection - Add comments documenting `thermal_runaway_protection` - Add an enum for the thermal runaway states - Add macros for temperature helper functions - Fix a glitch with the z probe sled in homeaxis
2015-04-02 12:10:14 +00:00
SERIAL_EOL;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Add M155 - Auto-report temperature with interval
2016-11-09 00:03:40 +00:00
#if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
static uint8_t auto_report_temp_interval;
static millis_t next_temp_report_ms;
/**
* M155: Set temperature auto-report interval. M155 S<seconds>
*/
inline void gcode_M155() {
if (code_seen('S')) {
auto_report_temp_interval = code_value_byte();
NOMORE(auto_report_temp_interval, 60);
next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
}
}
inline void auto_report_temperatures() {
if (auto_report_temp_interval && ELAPSED(millis(), next_temp_report_ms)) {
next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
print_heaterstates();
Fix auto_report_temperatures() The `auto_report_temperatures` needs a linefeed to be recognized by Repetier Host.
2016-12-05 20:04:53 +00:00
SERIAL_EOL;
Add M155 - Auto-report temperature with interval
2016-11-09 00:03:40 +00:00
}
}
#endif // AUTO_REPORT_TEMPERATURES
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
#if FAN_COUNT > 0
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M106: Set Fan Speed
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
*
* S<int> Speed between 0-255
* P<index> Fan index, if more than one fan
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
inline void gcode_M106() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
uint16_t s = code_seen('S') ? code_value_ushort() : 255,
p = code_seen('P') ? code_value_ushort() : 0;
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
NOMORE(s, 255);
if (p < FAN_COUNT) fanSpeeds[p] = s;
}
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M107: Fan Off
*/
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
inline void gcode_M107() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
uint16_t p = code_seen('P') ? code_value_ushort() : 0;
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
if (p < FAN_COUNT) fanSpeeds[p] = 0;
}
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
#endif // FAN_COUNT > 0
Fix syntax errors in #ifdef.
2014-12-20 16:33:43 +00:00
Add an emergency-command parser to MarlinSerial (supporting M108) Add an emergency-command parser to MarlinSerial's RX interrupt. The parser tries to find and execute M108,M112,M410 before the commands disappear in the RX-buffer. To avoid false positives for M117, comments and commands followed by filenames (M23, M28, M30, M32, M33) are filtered. This enables Marlin to receive and react on the Emergency command at all times - regardless of whether the buffers are full or not. It remains to convince hosts to send the commands. To inform the hosts about the new feature a new entry in the M115-report was made. "`EMERGENCY_CODES:M112,M108,M410;`". The parser is fast. It only ever needs two switch decisions and one assignment of the new state for every character. One problem remains. If the host has sent an incomplete line before sending an emergency command the emergency command could be omitted when the parser is in `state_IGNORE`. In that case the host should send "\ncommand\n" Also introduces M108 to break the waiting for the heaters in M109, M190 and M303. Rename `cancel_heatup` to `wait_for_heatup` to better see the purpose.
2016-07-04 21:23:22 +00:00
#if DISABLED(EMERGENCY_PARSER)
/**
* M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
*/
inline void gcode_M108() { wait_for_heatup = false; }
Group EMERGENCY_PARSER commands
2016-07-06 18:52:36 +00:00
/**
* M112: Emergency Stop
*/
inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
/**
* M410: Quickstop - Abort all planned moves
*
* This will stop the carriages mid-move, so most likely they
* will be out of sync with the stepper position after this.
*/
Add quickstop_stepper to update current position with stepper.quick_stop()
2016-07-06 19:00:28 +00:00
inline void gcode_M410() { quickstop_stepper(); }
Group EMERGENCY_PARSER commands
2016-07-06 18:52:36 +00:00
Add an emergency-command parser to MarlinSerial (supporting M108) Add an emergency-command parser to MarlinSerial's RX interrupt. The parser tries to find and execute M108,M112,M410 before the commands disappear in the RX-buffer. To avoid false positives for M117, comments and commands followed by filenames (M23, M28, M30, M32, M33) are filtered. This enables Marlin to receive and react on the Emergency command at all times - regardless of whether the buffers are full or not. It remains to convince hosts to send the commands. To inform the hosts about the new feature a new entry in the M115-report was made. "`EMERGENCY_CODES:M112,M108,M410;`". The parser is fast. It only ever needs two switch decisions and one assignment of the new state for every character. One problem remains. If the host has sent an incomplete line before sending an emergency command the emergency command could be omitted when the parser is in `state_IGNORE`. In that case the host should send "\ncommand\n" Also introduces M108 to break the waiting for the heaters in M109, M190 and M303. Rename `cancel_heatup` to `wait_for_heatup` to better see the purpose.
2016-07-04 21:23:22 +00:00
#endif
Introduce M108 cancel heatup for the hotend and bed This G-code is asynchronously handled in the get_serial_commands() parser.
2016-04-25 14:33:33 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Fix M109 so it won't wait for cooling Addressing issue #2767
2016-02-22 04:10:53 +00:00
* M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
* Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
Formatting / cleanup
2017-04-08 06:53:22 +00:00
#ifndef MIN_COOLING_SLOPE_DEG
#define MIN_COOLING_SLOPE_DEG 1.50
#endif
#ifndef MIN_COOLING_SLOPE_TIME
#define MIN_COOLING_SLOPE_TIME 60
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
inline void gcode_M109() {
Unglobalize no_wait_for_cooling
2015-11-09 12:21:47 +00:00
setTargetedHotend => get_target_extruder_from_command
2016-04-18 07:01:28 +00:00
if (get_target_extruder_from_command(109)) return;
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(DRYRUN)) return;
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
With SINGLENOZZLE only set temperature for the active tool
2016-05-30 07:42:26 +00:00
#if ENABLED(SINGLENOZZLE)
if (target_extruder != active_extruder) return;
#endif
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
const bool no_wait_for_cooling = code_seen('S');
Naming and code comments
2015-04-14 00:17:36 +00:00
if (no_wait_for_cooling || code_seen('R')) {
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
const int16_t temp = code_value_temp_abs();
thermalManager.setTargetHotend(temp, target_extruder);
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Adds an option to disable print job timer auto start
2016-05-14 21:04:53 +00:00
#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
/**
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
* Use half EXTRUDE_MINTEMP to allow nozzles to be put into hot
* standby mode, (e.g., in a dual extruder setup) without affecting
Adds an option to disable print job timer auto start
2016-05-14 21:04:53 +00:00
* the running print timer.
*/
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
if (code_value_temp_abs() <= (EXTRUDE_MINTEMP) / 2) {
Adds an option to disable print job timer auto start
2016-05-14 21:04:53 +00:00
print_job_timer.stop();
LCD_MESSAGEPGM(WELCOME_MSG);
}
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
else
print_job_timer.start();
Adds an option to disable print job timer auto start
2016-05-14 21:04:53 +00:00
#endif
Rework the print job timer to use the stopwatch class
2016-04-06 03:34:03 +00:00
status_printf => lcd_status_printf_P
2017-04-02 05:46:37 +00:00
if (thermalManager.isHeatingHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
else return;
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(AUTOTEMP)
Add autotemp capabilities to M104 This allows M104 to pass the F and B parameters to enable autotemp as well
2016-11-14 10:29:45 +00:00
planner.autotemp_M104_M109();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Use #if TEMP_RESIDENCY_TIME > 0 rather than #ifdef TEMP_RESIDENCY_TIME
2016-04-15 17:20:32 +00:00
#if TEMP_RESIDENCY_TIME > 0
Test time difference in safe way
2016-04-10 22:55:12 +00:00
millis_t residency_start_ms = 0;
Fix M109 so it won't wait for cooling Addressing issue #2767
2016-02-22 04:10:53 +00:00
// Loop until the temperature has stabilized
Test time difference in safe way
2016-04-10 22:55:12 +00:00
#define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#else
Check that the temperature is close to target
2016-02-28 06:26:44 +00:00
// Loop until the temperature is very close target
Temperature singleton class
2016-04-29 01:18:13 +00:00
#define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
theTarget => target_temp
2017-04-09 01:45:06 +00:00
float target_temp = -1.0, old_temp = 9999.0;
Remove wants_to_cool warning Remove wants_to_cool warning
2016-07-04 01:12:11 +00:00
bool wants_to_cool = false;
Change cancel_heatup to wait_for_heatup
2016-07-06 16:17:50 +00:00
wait_for_heatup = true;
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
Prevent stuck M109/M190 when target is changed
2016-04-30 23:29:02 +00:00
KEEPALIVE_STATE(NOT_BUSY);
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#if ENABLED(PRINTER_EVENT_LEDS)
const float start_temp = thermalManager.degHotend(target_extruder);
uint8_t old_blue = 0;
#endif
Fix for M109 and M190 cooldown Also removes the re-definition of now inside M190's while loop
2016-04-11 20:33:35 +00:00
do {
Minor tweaks to M109 / M190
2016-06-18 00:26:21 +00:00
// Target temperature might be changed during the loop
theTarget => target_temp
2017-04-09 01:45:06 +00:00
if (target_temp != thermalManager.degTargetHotend(target_extruder)) {
Minor tweaks to M109 / M190
2016-06-18 00:26:21 +00:00
wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
theTarget => target_temp
2017-04-09 01:45:06 +00:00
target_temp = thermalManager.degTargetHotend(target_extruder);
Minor tweaks to M109 / M190
2016-06-18 00:26:21 +00:00
// Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
if (no_wait_for_cooling && wants_to_cool) break;
}
Fix M109 so it won't wait for cooling Addressing issue #2767
2016-02-22 04:10:53 +00:00
now = millis();
Test time difference in safe way
2016-04-10 22:55:12 +00:00
if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
Fix M109 so it won't wait for cooling Addressing issue #2767
2016-02-22 04:10:53 +00:00
next_temp_ms = now + 1000UL;
Minor tweaks to M109 / M190
2016-06-18 00:26:21 +00:00
print_heaterstates();
Use #if TEMP_RESIDENCY_TIME > 0 rather than #ifdef TEMP_RESIDENCY_TIME
2016-04-15 17:20:32 +00:00
#if TEMP_RESIDENCY_TIME > 0
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
SERIAL_PROTOCOLPGM(" W:");
Test time difference in safe way
2016-04-10 22:55:12 +00:00
if (residency_start_ms) {
Wrap macros to prevent bad expansions
2016-03-13 06:38:55 +00:00
long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
Fix M109 so it won't wait for cooling Addressing issue #2767
2016-02-22 04:10:53 +00:00
SERIAL_PROTOCOLLN(rem);
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
}
else {
SERIAL_PROTOCOLLNPGM("?");
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
#else
SERIAL_EOL;
Fix M109 so it won't wait for cooling Addressing issue #2767
2016-02-22 04:10:53 +00:00
#endif
Add support for M300: Play beep sound
2013-03-25 04:35:05 +00:00
}
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
idle();
Fix stepper shutdown during waiting for temperatures In the wait loops of M109 M190 idle() is called, what checks stepper_inactive_time against previous_cmd_ms. Because we can be several minutes inside the loop, resetting previous_cmd_ms only outside the loop caused stepper shutdowns. The name of previous_cmd_ms does not really reflect its use. It's set not only when a new command was received or executed but also in many of the movement routines. For that the little extension of using it during the wait will (hopefully) not hurt. # Conflicts: # Marlin/Configuration_adv.h
2015-10-08 19:23:18 +00:00
refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
theTarget => target_temp
2017-04-09 01:45:06 +00:00
const float temp = thermalManager.degHotend(target_extruder);
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#if ENABLED(PRINTER_EVENT_LEDS)
// Gradually change LED strip from violet to red as nozzle heats up
if (!wants_to_cool) {
const uint8_t blue = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 255, 0);
if (blue != old_blue) set_led_color(255, 0, (old_blue = blue));
}
#endif
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
Use #if TEMP_RESIDENCY_TIME > 0 rather than #ifdef TEMP_RESIDENCY_TIME
2016-04-15 17:20:32 +00:00
#if TEMP_RESIDENCY_TIME > 0
Adjustments to residency_start_ms handling
2016-04-09 04:18:40 +00:00
theTarget => target_temp
2017-04-09 01:45:06 +00:00
const float temp_diff = fabs(target_temp - temp);
Adjustments to residency_start_ms handling
2016-04-09 04:18:40 +00:00
Test time difference in safe way
2016-04-10 22:55:12 +00:00
if (!residency_start_ms) {
Adjustments to residency_start_ms handling
2016-04-09 04:18:40 +00:00
// Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
Minor tweaks to M109 / M190
2016-06-18 00:26:21 +00:00
if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
Adjustments to residency_start_ms handling
2016-04-09 04:18:40 +00:00
}
else if (temp_diff > TEMP_HYSTERESIS) {
// Restart the timer whenever the temperature falls outside the hysteresis.
Minor tweaks to M109 / M190
2016-06-18 00:26:21 +00:00
residency_start_ms = now;
Adjustments to residency_start_ms handling
2016-04-09 04:18:40 +00:00
}
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
#endif
Fix M109 so it won't wait for cooling Addressing issue #2767
2016-02-22 04:10:53 +00:00
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
// Prevent a wait-forever situation if R is misused i.e. M109 R0
if (wants_to_cool) {
Adjust wait_for_cooling slope Adjust wait_for_cooling slope and drop mintemp for cooling. See https://github.com/MarlinFirmware/Marlin/pull/4169#issuecomment-231544532
2016-07-10 09:42:49 +00:00
// break after MIN_COOLING_SLOPE_TIME seconds
// if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
Adjust wait_for_cooling slope Adjust wait_for_cooling slope and drop mintemp for cooling. See https://github.com/MarlinFirmware/Marlin/pull/4169#issuecomment-231544532
2016-07-10 09:42:49 +00:00
if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
old_temp = temp;
}
}
Change cancel_heatup to wait_for_heatup
2016-07-06 16:17:50 +00:00
} while (wait_for_heatup && TEMP_CONDITIONS);
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
if (wait_for_heatup) {
LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
#if ENABLED(PRINTER_EVENT_LEDS)
Add support for an RGBW LED
2017-04-11 17:58:55 +00:00
#if ENABLED(RGBW_LED)
set_led_color(0, 0, 0, 255); // Turn on the WHITE LED
#else
set_led_color(255, 255, 255); // Set LEDs All On
#endif
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#endif
}
Don't say "heating complete" unless done
2016-09-06 02:09:30 +00:00
Keepalive not needed while waiting for temperatures
2016-04-29 04:11:15 +00:00
KEEPALIVE_STATE(IN_HANDLER);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_TEMP_BED
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Adjust wait_for_cooling slope Adjust wait_for_cooling slope and drop mintemp for cooling. See https://github.com/MarlinFirmware/Marlin/pull/4169#issuecomment-231544532
2016-07-10 09:42:49 +00:00
#ifndef MIN_COOLING_SLOPE_DEG_BED
#define MIN_COOLING_SLOPE_DEG_BED 1.50
#endif
#ifndef MIN_COOLING_SLOPE_TIME_BED
#define MIN_COOLING_SLOPE_TIME_BED 60
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
*/
inline void gcode_M190() {
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(DRYRUN)) return;
Insert Debug DRYRUN Repetier Host compatible
2015-06-01 16:34:45 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
LCD_MESSAGEPGM(MSG_BED_HEATING);
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
const bool no_wait_for_cooling = code_seen('S');
Runout sensor without SD Card
2016-07-08 13:00:39 +00:00
if (no_wait_for_cooling || code_seen('R')) {
thermalManager.setTargetBed(code_value_temp_abs());
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
Runout sensor without SD Card
2016-07-08 13:00:39 +00:00
#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
if (code_value_temp_abs() > BED_MINTEMP)
Runout sensor without SD Card
2016-07-08 13:00:39 +00:00
print_job_timer.start();
#endif
}
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
else return;
Fix for M109 and M190 cooldown Also removes the re-definition of now inside M190's while loop
2016-04-11 20:33:35 +00:00
Use #if TEMP_RESIDENCY_TIME > 0 rather than #ifdef TEMP_RESIDENCY_TIME
2016-04-15 17:20:32 +00:00
#if TEMP_BED_RESIDENCY_TIME > 0
Implementation of M190 bed temp hysteresis
2016-04-12 14:40:57 +00:00
millis_t residency_start_ms = 0;
// Loop until the temperature has stabilized
#define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
#else
// Loop until the temperature is very close target
Temperature singleton class
2016-04-29 01:18:13 +00:00
#define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
#endif
Implementation of M190 bed temp hysteresis
2016-04-12 14:40:57 +00:00
theTarget => target_temp
2017-04-09 01:45:06 +00:00
float target_temp = -1.0, old_temp = 9999.0;
Remove wants_to_cool warning Remove wants_to_cool warning
2016-07-04 01:12:11 +00:00
bool wants_to_cool = false;
Change cancel_heatup to wait_for_heatup
2016-07-06 16:17:50 +00:00
wait_for_heatup = true;
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
Fix for M109 and M190 cooldown Also removes the re-definition of now inside M190's while loop
2016-04-11 20:33:35 +00:00
Keepalive not needed while waiting for temperatures
2016-04-29 04:11:15 +00:00
KEEPALIVE_STATE(NOT_BUSY);
Prevent stuck M109/M190 when target is changed
2016-04-30 23:29:02 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
target_extruder = active_extruder; // for print_heaterstates
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#if ENABLED(PRINTER_EVENT_LEDS)
const float start_temp = thermalManager.degBed();
uint8_t old_red = 255;
#endif
Fix for M109 and M190 cooldown Also removes the re-definition of now inside M190's while loop
2016-04-11 20:33:35 +00:00
do {
Minor tweaks to M109 / M190
2016-06-18 00:26:21 +00:00
// Target temperature might be changed during the loop
theTarget => target_temp
2017-04-09 01:45:06 +00:00
if (target_temp != thermalManager.degTargetBed()) {
Minor tweaks to M109 / M190
2016-06-18 00:26:21 +00:00
wants_to_cool = thermalManager.isCoolingBed();
theTarget => target_temp
2017-04-09 01:45:06 +00:00
target_temp = thermalManager.degTargetBed();
Minor tweaks to M109 / M190
2016-06-18 00:26:21 +00:00
// Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
if (no_wait_for_cooling && wants_to_cool) break;
}
Implementation of M190 bed temp hysteresis
2016-04-12 14:40:57 +00:00
now = millis();
Test time difference in safe way
2016-04-10 22:55:12 +00:00
if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
Fix M109 so it won't wait for cooling Addressing issue #2767
2016-02-22 04:10:53 +00:00
next_temp_ms = now + 1000UL;
print_heaterstates();
Use #if TEMP_RESIDENCY_TIME > 0 rather than #ifdef TEMP_RESIDENCY_TIME
2016-04-15 17:20:32 +00:00
#if TEMP_BED_RESIDENCY_TIME > 0
Implementation of M190 bed temp hysteresis
2016-04-12 14:40:57 +00:00
SERIAL_PROTOCOLPGM(" W:");
if (residency_start_ms) {
long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
SERIAL_PROTOCOLLN(rem);
}
else {
SERIAL_PROTOCOLLNPGM("?");
}
#else
SERIAL_EOL;
#endif
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Implementation of M190 bed temp hysteresis
2016-04-12 14:40:57 +00:00
Slight size reduction by adding idle()
2015-05-27 03:08:21 +00:00
idle();
Fix stepper shutdown during waiting for temperatures In the wait loops of M109 M190 idle() is called, what checks stepper_inactive_time against previous_cmd_ms. Because we can be several minutes inside the loop, resetting previous_cmd_ms only outside the loop caused stepper shutdowns. The name of previous_cmd_ms does not really reflect its use. It's set not only when a new command was received or executed but also in many of the movement routines. For that the little extension of using it during the wait will (hopefully) not hurt. # Conflicts: # Marlin/Configuration_adv.h
2015-10-08 19:23:18 +00:00
refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
Implementation of M190 bed temp hysteresis
2016-04-12 14:40:57 +00:00
theTarget => target_temp
2017-04-09 01:45:06 +00:00
const float temp = thermalManager.degBed();
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#if ENABLED(PRINTER_EVENT_LEDS)
// Gradually change LED strip from blue to violet as bed heats up
if (!wants_to_cool) {
const uint8_t red = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 0, 255);
if (red != old_red) set_led_color((old_red = red), 0, 255);
}
#endif
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
Use #if TEMP_RESIDENCY_TIME > 0 rather than #ifdef TEMP_RESIDENCY_TIME
2016-04-15 17:20:32 +00:00
#if TEMP_BED_RESIDENCY_TIME > 0
Implementation of M190 bed temp hysteresis
2016-04-12 14:40:57 +00:00
theTarget => target_temp
2017-04-09 01:45:06 +00:00
const float temp_diff = fabs(target_temp - temp);
Implementation of M190 bed temp hysteresis
2016-04-12 14:40:57 +00:00
if (!residency_start_ms) {
// Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
Minor tweaks to M109 / M190
2016-06-18 00:26:21 +00:00
if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
Implementation of M190 bed temp hysteresis
2016-04-12 14:40:57 +00:00
}
else if (temp_diff > TEMP_BED_HYSTERESIS) {
// Restart the timer whenever the temperature falls outside the hysteresis.
Minor tweaks to M109 / M190
2016-06-18 00:26:21 +00:00
residency_start_ms = now;
Implementation of M190 bed temp hysteresis
2016-04-12 14:40:57 +00:00
}
Formatting / cleanup
2017-04-08 06:53:22 +00:00
#endif // TEMP_BED_RESIDENCY_TIME > 0
Implementation of M190 bed temp hysteresis
2016-04-12 14:40:57 +00:00
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
// Prevent a wait-forever situation if R is misused i.e. M190 R0
if (wants_to_cool) {
Formatting / cleanup
2017-04-08 06:53:22 +00:00
// Break after MIN_COOLING_SLOPE_TIME_BED seconds
Adjust wait_for_cooling slope Adjust wait_for_cooling slope and drop mintemp for cooling. See https://github.com/MarlinFirmware/Marlin/pull/4169#issuecomment-231544532
2016-07-10 09:42:49 +00:00
// if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
Adjust wait_for_cooling slope Adjust wait_for_cooling slope and drop mintemp for cooling. See https://github.com/MarlinFirmware/Marlin/pull/4169#issuecomment-231544532
2016-07-10 09:42:49 +00:00
if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
old_temp = temp;
}
}
Change cancel_heatup to wait_for_heatup
2016-07-06 16:17:50 +00:00
} while (wait_for_heatup && TEMP_BED_CONDITIONS);
Always wait for cooling in M109/M190, break at low temp or if cooling stalls
2016-06-29 02:00:59 +00:00
Don't say "heating complete" unless done
2016-09-06 02:09:30 +00:00
if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
Keepalive not needed while waiting for temperatures
2016-04-29 04:11:15 +00:00
KEEPALIVE_STATE(IN_HANDLER);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#endif // HAS_TEMP_BED
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
M110 ang M29 rework Add 'ok' output for G29 actually closing the file. Handle M110 when received without linenumber/checksumm.
2016-03-07 21:27:01 +00:00
/**
* M110: Set Current Line Number
*/
inline void gcode_M110() {
Fix M110 without leading N Store N in the right variable. This is too rarely used. "mea culpa, mea culpa, mea maxima culpa"
2017-01-13 11:19:16 +00:00
if (code_seen('N')) gcode_LastN = code_value_long();
M110 ang M29 rework Add 'ok' output for G29 actually closing the file. Handle M110 when received without linenumber/checksumm.
2016-03-07 21:27:01 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
* M111: Set the debug level
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
inline void gcode_M111() {
Formatting / cleanup
2017-04-08 06:53:22 +00:00
marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t)DEBUG_NONE;
Fix spacing in some conditional blocks
2015-08-28 01:40:10 +00:00
Fixes #3346, followup #3343: variables must defined with the static keyword to work with PROGMEM when defined inside functions
2016-04-04 13:51:47 +00:00
const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
Fix spacing in some conditional blocks
2015-08-28 01:40:10 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Fixes #3346, followup #3343: variables must defined with the static keyword to work with PROGMEM when defined inside functions
2016-04-04 13:51:47 +00:00
const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
Fix spacing in some conditional blocks
2015-08-28 01:40:10 +00:00
#endif
Echo all debug levels in M111, default to DEBUG_NONE Redo of #3268 by @jbrazio
2016-03-30 02:18:45 +00:00
Fixes #3346, followup #3343: variables must defined with the static keyword to work with PROGMEM when defined inside functions
2016-04-04 13:51:47 +00:00
const static char* const debug_strings[] PROGMEM = {
Echo all debug levels in M111, default to DEBUG_NONE Redo of #3268 by @jbrazio
2016-03-30 02:18:45 +00:00
str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
#if ENABLED(DEBUG_LEVELING_FEATURE)
str_debug_32
#endif
};
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
if (marlin_debug_flags) {
uint8_t comma = 0;
for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
if (TEST(marlin_debug_flags, i)) {
Final tweaks to M111 output
2016-04-04 22:36:07 +00:00
if (comma++) SERIAL_CHAR(',');
Drop extra parens from address-of operator
2017-05-03 00:16:18 +00:00
serialprintPGM((char*)pgm_read_word(&debug_strings[i]));
Echo all debug levels in M111, default to DEBUG_NONE Redo of #3268 by @jbrazio
2016-03-30 02:18:45 +00:00
}
}
}
else {
SERIAL_ECHOPGM(MSG_DEBUG_OFF);
}
SERIAL_EOL;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add M113 to get/set Host Keepalive
2016-04-07 00:31:49 +00:00
#if ENABLED(HOST_KEEPALIVE_FEATURE)
/**
* M113: Get or set Host Keepalive interval (0 to disable)
*
* S<seconds> Optional. Set the keepalive interval.
*/
inline void gcode_M113() {
if (code_seen('S')) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
host_keepalive_interval = code_value_byte();
Add M113 to get/set Host Keepalive
2016-04-07 00:31:49 +00:00
NOMORE(host_keepalive_interval, 60);
}
else {
SERIAL_ECHO_START;
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
Add M113 to get/set Host Keepalive
2016-04-07 00:31:49 +00:00
}
}
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(BARICUDA)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_HEATER_1
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M126: Heater 1 valve open
*/
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M127: Heater 1 valve close
*/
Rename baricuda variables
2016-04-18 06:12:15 +00:00
inline void gcode_M127() { baricuda_valve_pressure = 0; }
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_HEATER_2
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M128: Heater 2 valve open
*/
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M129: Heater 2 valve close
*/
Rename baricuda variables
2016-04-18 06:12:15 +00:00
inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
Patch #else / #endif comments
2017-05-09 17:35:43 +00:00
#endif // BARICUDA
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M140: Set bed temperature
*/
inline void gcode_M140() {
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(DRYRUN)) return;
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(ULTIPANEL)
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
/**
* M145: Set the heatup state for a material in the LCD menu
Have M109 / M190 do nothing with no parameters
2017-04-11 09:30:39 +00:00
*
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
* S<material> (0=PLA, 1=ABS)
* H<hotend temp>
* B<bed temp>
* F<fan speed>
*/
inline void gcode_M145() {
Fix compiler warning in M145
2016-10-27 10:53:44 +00:00
uint8_t material = code_seen('S') ? (uint8_t)code_value_int() : 0;
if (material >= COUNT(lcd_preheat_hotend_temp)) {
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
}
else {
int v;
Make LCD preheat vars an array to reduce code size
2016-10-27 07:40:37 +00:00
if (code_seen('H')) {
v = code_value_int();
lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
}
Make LCD preheat vars an array to reduce code size
2016-10-27 07:40:37 +00:00
if (code_seen('F')) {
v = code_value_int();
lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
}
#if TEMP_SENSOR_BED != 0
if (code_seen('B')) {
v = code_value_int();
lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
}
#endif
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
}
}
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
#endif // ULTIPANEL
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
/**
* M149: Set temperature units
*/
inline void gcode_M149() {
Adjust spacing in gcode_M149
2016-10-27 07:40:55 +00:00
if (code_seen('C')) set_input_temp_units(TEMPUNIT_C);
else if (code_seen('K')) set_input_temp_units(TEMPUNIT_K);
else if (code_seen('F')) set_input_temp_units(TEMPUNIT_F);
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
}
#endif
Allow POWER_SUPPLY 0 for no power switch
2015-03-30 23:39:47 +00:00
#if HAS_POWER_SWITCH
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
"M80 S" to report the state of the PSU pin
2017-05-10 16:07:58 +00:00
* M80 : Turn on the Power Supply
* M80 S : Report the current state and exit
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M80() {
"M80 S" to report the state of the PSU pin
2017-05-10 16:07:58 +00:00
// S: Report the current power supply state and exit
if (code_seen('S')) {
serialprintPGM(powersupply_on ? PSTR("PS:1\n") : PSTR("PS:0\n"));
return;
}
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); // GND
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
* If you have a switch on suicide pin, this is useful
* if you want to start another print with suicide feature after
* a print without suicide...
*/
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_SUICIDE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
#if ENABLED(HAVE_TMC2130)
delay(100);
tmc2130_init(); // Settings only stick when the driver has power
#endif
"M80 S" to report the state of the PSU pin
2017-05-10 16:07:58 +00:00
powersupply_on = true;
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(ULTIPANEL)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
LCD_MESSAGEPGM(WELCOME_MSG);
#endif
}
Conditionals and comments for PS = 0
2015-03-30 23:50:05 +00:00
#endif // HAS_POWER_SWITCH
/**
* M81: Turn off Power, including Power Supply, if there is one.
*
* This code should ALWAYS be available for EMERGENCY SHUTDOWN!
*/
inline void gcode_M81() {
Temperature singleton class
2016-04-29 01:18:13 +00:00
thermalManager.disable_all_heaters();
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.finish_and_disable();
"M80 S" to report the state of the PSU pin
2017-05-10 16:07:58 +00:00
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
#if FAN_COUNT > 0
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
#if ENABLED(PROBING_FANS_OFF)
fans_paused = false;
ZERO(paused_fanSpeeds);
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
#endif
#endif
"M80 S" to report the state of the PSU pin
2017-05-10 16:07:58 +00:00
Use safe_delay to ensure watchdog reset
2017-03-27 04:49:56 +00:00
safe_delay(1000); // Wait 1 second before switching off
"M80 S" to report the state of the PSU pin
2017-05-10 16:07:58 +00:00
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_SUICIDE
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Conditionals and comments for PS = 0
2015-03-30 23:50:05 +00:00
suicide();
#elif HAS_POWER_SWITCH
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
"M80 S" to report the state of the PSU pin
2017-05-10 16:07:58 +00:00
powersupply_on = false;
Conditionals and comments for PS = 0
2015-03-30 23:50:05 +00:00
#endif
"M80 S" to report the state of the PSU pin
2017-05-10 16:07:58 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(ULTIPANEL)
Conditionals and comments for PS = 0
2015-03-30 23:50:05 +00:00
LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
#endif
}
Allow POWER_SUPPLY 0 for no power switch
2015-03-30 23:39:47 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M82: Set E codes absolute (default)
*/
inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
/**
Fix comment on M83, add comment to prepare_move
2015-06-28 04:49:37 +00:00
* M83: Set E codes relative while in Absolute Coordinates (G90) mode
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
/**
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
* M18, M84: Disable stepper motors
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M18_M84() {
if (code_seen('S')) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
stepper_inactive_time = code_value_millis_from_seconds();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
else {
Don't use axis_codes if a literal will do
2016-07-07 01:37:21 +00:00
bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (all_axis) {
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.finish_and_disable();
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
else {
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Simplify stepper macros by renaming enable/disable macros
2017-04-11 16:10:26 +00:00
if (code_seen('X')) disable_X();
if (code_seen('Y')) disable_Y();
if (code_seen('Z')) disable_Z();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
Add disable_e_steppers function
2017-03-18 02:12:19 +00:00
if (code_seen('E')) disable_e_steppers();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
}
}
}
/**
* M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
*/
inline void gcode_M85() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Support for distinct E factors
2016-12-04 04:02:27 +00:00
/**
* Multi-stepper support for M92, M201, M203
*/
#if ENABLED(DISTINCT_E_FACTORS)
#define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
#define TARGET_EXTRUDER target_extruder
#else
#define GET_TARGET_EXTRUDER(CMD) NOOP
#define TARGET_EXTRUDER 0
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
* M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
* (Follows the same syntax as G92)
Support for distinct E factors
2016-12-04 04:02:27 +00:00
*
* With multiple extruders use T to specify which one.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M92() {
Support for distinct E factors
2016-12-04 04:02:27 +00:00
GET_TARGET_EXTRUDER(92);
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZE(i) {
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (code_seen(axis_codes[i])) {
if (i == E_AXIS) {
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
const float value = code_value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER));
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (value < 20.0) {
Support for distinct E factors
2016-12-04 04:02:27 +00:00
float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
max_jerk array, DEFAULT_XYJERK => DEFAULT_[XY]JERK
2016-10-02 09:37:13 +00:00
planner.max_jerk[E_AXIS] *= factor;
Support for distinct E factors
2016-12-04 04:02:27 +00:00
planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Support for distinct E factors
2016-12-04 04:02:27 +00:00
planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
restore Branch from Backup sorry for that
2014-06-23 15:09:57 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
else {
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
planner.axis_steps_per_mm[i] = code_value_per_axis_unit((AxisEnum)i);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
}
}
Replace division in planner with multiplication
2016-07-24 02:36:26 +00:00
planner.refresh_positioning();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
Call report_current_position instead of gcode_M114 directly
2016-04-26 01:23:09 +00:00
* Output the current position to serial
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
Call report_current_position instead of gcode_M114 directly
2016-04-26 01:23:09 +00:00
static void report_current_position() {
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.report_positions();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
#if IS_SCARA
Use stepper.get_axis_position_degrees
2016-09-28 19:05:50 +00:00
SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
Use ABC indices in delta[]
2016-09-15 06:21:31 +00:00
SERIAL_EOL;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
}
Add support for solenoid articulated extruders
2015-03-03 01:07:12 +00:00
Call report_current_position instead of gcode_M114 directly
2016-04-26 01:23:09 +00:00
/**
* M114: Output current position to serial port
*/
M114 - wait for move completion before reporting position
2017-03-16 20:10:45 +00:00
inline void gcode_M114() { stepper.synchronize(); report_current_position(); }
Call report_current_position instead of gcode_M114 directly
2016-04-26 01:23:09 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M115: Capabilities string
*/
inline void gcode_M115() {
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT);
#if ENABLED(EXTENDED_CAPABILITIES_REPORT)
// EEPROM (M500, M501)
#if ENABLED(EEPROM_SETTINGS)
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:EEPROM:1");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#else
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:EEPROM:0");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#endif
// AUTOREPORT_TEMP (M155)
#if ENABLED(AUTO_REPORT_TEMPERATURES)
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:1");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#else
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:0");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#endif
// PROGRESS (M530 S L, M531 <file>, M532 X L)
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:PROGRESS:0");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
// AUTOLEVEL (G29)
#if HAS_ABL
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:1");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#else
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:0");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#endif
// Z_PROBE (G30)
#if HAS_BED_PROBE
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:1");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#else
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:0");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#endif
Add LEVELING_DATA as a capability
2017-04-05 23:14:02 +00:00
// MESH_REPORT (M420 V)
Adjust leveling conditionals
2017-05-01 21:13:09 +00:00
#if HAS_LEVELING
Add LEVELING_DATA as a capability
2017-04-05 23:14:02 +00:00
SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:1");
#else
SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:0");
#endif
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
// SOFTWARE_POWER (G30)
#if HAS_POWER_SWITCH
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:1");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#else
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:0");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#endif
// TOGGLE_LIGHTS (M355)
#if HAS_CASE_LIGHT
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:1");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#else
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:0");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#endif
// EMERGENCY_PARSER (M108, M112, M410)
#if ENABLED(EMERGENCY_PARSER)
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:1");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#else
Save PROGMEM with string changes Unlike RAM-based strings, PROGMEM strings aren’t consolidated by the compiler.
2016-12-04 01:21:27 +00:00
SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:0");
Extended capabilities report in M115
2016-11-09 00:05:59 +00:00
#endif
#endif // EXTENDED_CAPABILITIES_REPORT
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add support for solenoid articulated extruders
2015-03-03 01:07:12 +00:00
Further optimization of command parser
2015-05-17 12:00:09 +00:00
/**
* M117: Set LCD Status Message
*/
inline void gcode_M117() {
Simplify & optimize with current_command_args
2015-05-17 23:58:37 +00:00
lcd_setstatus(current_command_args);
Further optimization of command parser
2015-05-17 12:00:09 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M119: Output endstop states to serial output
*/
Localize M119 in Endstops class
2016-04-27 21:46:24 +00:00
inline void gcode_M119() { endstops.M119(); }
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
M120/M121 also set endstops non-homing state
2016-03-24 10:18:45 +00:00
* M120: Enable endstops and set non-homing endstop state to "enabled"
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
inline void gcode_M120() { endstops.enable_globally(true); }
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
M120/M121 also set endstops non-homing state
2016-03-24 10:18:45 +00:00
* M121: Disable endstops and set non-homing endstop state to "disabled"
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
inline void gcode_M121() { endstops.enable_globally(false); }
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
#if ENABLED(PARK_HEAD_ON_PAUSE)
/**
* M125: Store current position and move to filament change position.
* Called on pause (by M25) to prevent material leaking onto the
* object. On resume (M24) the head will be moved back and the
* print will resume.
*
* If Marlin is compiled without SD Card support, M125 can be
* used directly to pause the print and move to park position,
* resuming with a button click or M108.
*
* L = override retract length
* X = override X
* Y = override Y
* Z = override Z raise
*/
inline void gcode_M125() {
if (move_away_flag) return; // already paused
const bool job_running = print_job_timer.isRunning();
// there are blocks after this one, or sd printing
move_away_flag = job_running || planner.blocks_queued()
#if ENABLED(SDSUPPORT)
|| card.sdprinting
#endif
;
if (!move_away_flag) return; // nothing to pause
// M125 can be used to pause a print too
#if ENABLED(SDSUPPORT)
card.pauseSDPrint();
#endif
print_job_timer.pause();
// Save current position
COPY(resume_position, current_position);
set_destination_to_current();
// Initial retract before move to filament change position
destination[E_AXIS] += code_seen('L') ? code_value_axis_units(E_AXIS) : 0
#if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
- (FILAMENT_CHANGE_RETRACT_LENGTH)
#endif
;
RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
// Lift Z axis
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
const float z_lift = code_seen('Z') ? code_value_linear_units() :
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
#if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
FILAMENT_CHANGE_Z_ADD
#else
0
#endif
;
if (z_lift > 0) {
destination[Z_AXIS] += z_lift;
NOMORE(destination[Z_AXIS], Z_MAX_POS);
RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
}
// Move XY axes to filament change position or given position
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
destination[X_AXIS] = code_seen('X') ? code_value_linear_units() : 0
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
#ifdef FILAMENT_CHANGE_X_POS
+ FILAMENT_CHANGE_X_POS
#endif
;
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
destination[Y_AXIS] = code_seen('Y') ? code_value_linear_units() : 0
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
#ifdef FILAMENT_CHANGE_Y_POS
+ FILAMENT_CHANGE_Y_POS
#endif
;
#if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
if (active_extruder > 0) {
if (!code_seen('X')) destination[X_AXIS] += hotend_offset[X_AXIS][active_extruder];
if (!code_seen('Y')) destination[Y_AXIS] += hotend_offset[Y_AXIS][active_extruder];
}
#endif
clamp_to_software_endstops(destination);
RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
set_current_to_destination();
stepper.synchronize();
disable_e_steppers();
#if DISABLED(SDSUPPORT)
// Wait for lcd click or M108
KEEPALIVE_STATE(PAUSED_FOR_USER);
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
wait_for_user = true;
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
while (wait_for_user) idle();
KEEPALIVE_STATE(IN_HANDLER);
// Return to print position and continue
move_back_on_resume();
if (job_running) print_job_timer.start();
move_away_flag = false;
#endif
}
#endif // PARK_HEAD_ON_PAUSE
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#if HAS_COLOR_LEDS
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Add support for an RGBW LED
2017-04-11 17:58:55 +00:00
* M150: Set Status LED Color - Use R-U-B-W for R-G-B-W
Support for an RGB LED using 3 pins
2016-11-30 01:51:13 +00:00
*
Add support for an RGBW LED
2017-04-11 17:58:55 +00:00
* Always sets all 3 or 4 components. If a component is left out, set to 0.
Support for an RGB LED using 3 pins
2016-11-30 01:51:13 +00:00
*
* Examples:
*
* M150 R255 ; Turn LED red
* M150 R255 U127 ; Turn LED orange (PWM only)
* M150 ; Turn LED off
* M150 R U B ; Turn LED white
Add support for an RGBW LED
2017-04-11 17:58:55 +00:00
* M150 W ; Turn LED white using a white LED
Support for an RGB LED using 3 pins
2016-11-30 01:51:13 +00:00
*
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M150() {
Support for an RGB LED using 3 pins
2016-11-30 01:51:13 +00:00
set_led_color(
code_seen('R') ? (code_has_value() ? code_value_byte() : 255) : 0,
code_seen('U') ? (code_has_value() ? code_value_byte() : 255) : 0,
code_seen('B') ? (code_has_value() ? code_value_byte() : 255) : 0
Add support for an RGBW LED
2017-04-11 17:58:55 +00:00
#if ENABLED(RGBW_LED)
, code_seen('W') ? (code_has_value() ? code_value_byte() : 255) : 0
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
);
}
Support for an RGB LED using 3 pins
2016-11-30 01:51:13 +00:00
#endif // BLINKM || RGB_LED
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
* M200: Set filament diameter and set E axis units to cubic units
Redo "invalid extruder" to save 264 bytes - Use `setTargetedHotend` in `M200`, as with other commands that use `T` for the extruder - Synthesize the "invalid extruder" message, obviating several long strings
2015-05-29 05:25:28 +00:00
*
* T<extruder> - Optional extruder number. Current extruder if omitted.
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M200() {
Redo "invalid extruder" to save 264 bytes - Use `setTargetedHotend` in `M200`, as with other commands that use `T` for the extruder - Synthesize the "invalid extruder" message, obviating several long strings
2015-05-29 05:25:28 +00:00
setTargetedHotend => get_target_extruder_from_command
2016-04-18 07:01:28 +00:00
if (get_target_extruder_from_command(200)) return;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (code_seen('D')) {
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
Reduce code size by trusting the compiler
2016-07-09 23:25:48 +00:00
volumetric_enabled = (code_value_linear_units() != 0.0);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (volumetric_enabled) {
Reduce code size by trusting the compiler
2016-07-09 23:25:48 +00:00
filament_size[target_extruder] = code_value_linear_units();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
// make sure all extruders have some sane value for the filament size
Introduce line_to_axis_pos(axis_codes axis, float where, float feed_rate = 0.0) and use it in `homeaxis()` instead of `do_blocking_move_to_axis_pos()`. `do_blocking_move_to_axis_pos` was wrong because it performed subdivided, delta-corrected moves for x- and y-axis. The first common move for delta homing is like quick_home but for 3 towers. Fix two warnings.
2016-07-19 15:24:44 +00:00
for (uint8_t i = 0; i < COUNT(filament_size); i++)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
}
}
calculate_volumetric_multipliers();
}
/**
* M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
Support for distinct E factors
2016-12-04 04:02:27 +00:00
*
* With multiple extruders use T to specify which one.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M201() {
Support for distinct E factors
2016-12-04 04:02:27 +00:00
GET_TARGET_EXTRUDER(201);
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZE(i) {
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (code_seen(axis_codes[i])) {
Support for distinct E factors
2016-12-04 04:02:27 +00:00
const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
planner.max_acceleration_mm_per_s2[a] = code_value_axis_units((AxisEnum)a);
Bed Auto Leveling feature Check the Readme for instruction how to enable and configure the feature
2013-09-29 16:20:06 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
Planner singleton class
2016-04-28 01:06:32 +00:00
planner.reset_acceleration_rates();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#if 0 // Not used for Sprinter/grbl gen6
inline void gcode_M202() {
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZE(i) {
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units((AxisEnum)i) * planner.axis_steps_per_mm[i];
Bed Auto Leveling feature Check the Readme for instruction how to enable and configure the feature
2013-09-29 16:20:06 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
#endif
Real-time filament diameter measurement and control This feature allows the printer to read the filament diameter automatically and adjust the printer in real time. Added code to read an analog voltage that represents a filament diameter measurement. This measurement is delayed in a ring buffer to compensate for sensors that are a distance away from the extruder. The measurement is used to adjust the volumetric_multiplier for the extruder. Some additional g codes (M404, M405, M406, M407) are used to set parameters and turn on/off the control. g code M221 is updated. Pins for RAMPS1.4, RAMBO, and Printrboard are identified for analog input. The configuration file is updated with relevant user parameters.
2014-08-07 00:30:57 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
Support for distinct E factors
2016-12-04 04:02:27 +00:00
*
* With multiple extruders use T to specify which one.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M203() {
Support for distinct E factors
2016-12-04 04:02:27 +00:00
GET_TARGET_EXTRUDER(203);
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZE(i)
Support for distinct E factors
2016-12-04 04:02:27 +00:00
if (code_seen(axis_codes[i])) {
const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
planner.max_feedrate_mm_s[a] = code_value_axis_units((AxisEnum)a);
Support for distinct E factors
2016-12-04 04:02:27 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*
Add Travel Acceleration and change the M204 options Added option to set Travel Acceleration (non printing moves). The M204 options was a non sense (S for printing moves and T for retract moves). It has been changed to: P = Printing moves R = Retract only (no X, Y, Z) moves T = Travel (non printing) moves I will add this info o G-Code wiki in reprap.org. I also advise to put this info in Marlin next version changelog.
2015-03-11 16:19:02 +00:00
* P = Printing moves
* R = Retract only (no X, Y, Z) moves
* T = Travel (non printing) moves
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*
* Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
*/
inline void gcode_M204() {
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
planner.travel_acceleration = planner.acceleration = code_value_linear_units();
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
Restore "S" parameter of M204 for retrocompatibility.
2015-03-18 15:19:30 +00:00
}
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
if (code_seen('P')) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
planner.acceleration = code_value_linear_units();
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
Add Travel Acceleration and change the M204 options Added option to set Travel Acceleration (non printing moves). The M204 options was a non sense (S for printing moves and T for retract moves). It has been changed to: P = Printing moves R = Retract only (no X, Y, Z) moves T = Travel (non printing) moves I will add this info o G-Code wiki in reprap.org. I also advise to put this info in Marlin next version changelog.
2015-03-11 16:19:02 +00:00
}
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
if (code_seen('R')) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
planner.retract_acceleration = code_value_linear_units();
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
Add Travel Acceleration and change the M204 options Added option to set Travel Acceleration (non printing moves). The M204 options was a non sense (S for printing moves and T for retract moves). It has been changed to: P = Printing moves R = Retract only (no X, Y, Z) moves T = Travel (non printing) moves I will add this info o G-Code wiki in reprap.org. I also advise to put this info in Marlin next version changelog.
2015-03-11 16:19:02 +00:00
}
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
if (code_seen('T')) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
planner.travel_acceleration = code_value_linear_units();
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
Add Travel Acceleration and change the M204 options Added option to set Travel Acceleration (non printing moves). The M204 options was a non sense (S for printing moves and T for retract moves). It has been changed to: P = Printing moves R = Retract only (no X, Y, Z) moves T = Travel (non printing) moves I will add this info o G-Code wiki in reprap.org. I also advise to put this info in Marlin next version changelog.
2015-03-11 16:19:02 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
* M205: Set Advanced Settings
*
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* S = Min Feed Rate (units/s)
* T = Min Travel Feed Rate (units/s)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
* B = Min Segment Time (µs)
Add note for M205
2016-10-03 06:54:15 +00:00
* X = Max X Jerk (units/sec^2)
* Y = Max Y Jerk (units/sec^2)
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* Z = Max Z Jerk (units/sec^2)
* E = Max E Jerk (units/sec^2)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M205() {
Append units to feedrate variables
2016-07-16 01:49:34 +00:00
if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('B')) planner.min_segment_time = code_value_millis();
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
if (code_seen('X')) planner.max_jerk[X_AXIS] = code_value_linear_units();
if (code_seen('Y')) planner.max_jerk[Y_AXIS] = code_value_linear_units();
if (code_seen('Z')) planner.max_jerk[Z_AXIS] = code_value_linear_units();
if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_linear_units();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_M206_COMMAND
Have M206 alter current_position, M428 use new function
2016-04-10 02:07:24 +00:00
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
/**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*/
inline void gcode_M206() {
LOOP_XYZ(i)
if (code_seen(axis_codes[i]))
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
set_home_offset((AxisEnum)i, code_value_linear_units());
Call report_current_position after M206 / M428
2016-04-26 01:24:12 +00:00
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
#if ENABLED(MORGAN_SCARA)
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
if (code_seen('T')) set_home_offset(A_AXIS, code_value_linear_units()); // Theta
if (code_seen('P')) set_home_offset(B_AXIS, code_value_linear_units()); // Psi
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
#endif
SYNC_PLAN_POSITION_KINEMATIC();
report_current_position();
}
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#endif // HAS_M206_COMMAND
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DELTA)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M665: Set delta configurations
*
Update M665 comment, fix M665 code_value code.
2017-05-13 10:11:29 +00:00
* H = delta height
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
* L = diagonal rod
* R = delta radius
* S = segments per second
Update M665 comment, fix M665 code_value code.
2017-05-13 10:11:29 +00:00
* B = delta calibration radius
* X = Alpha (Tower 1) angle trim
* Y = Beta (Tower 2) angle trim
* Z = Rotate A and B by this angle
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M665() {
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
if (code_seen('H')) {
home_offset[Z_AXIS] = code_value_linear_units() - DELTA_HEIGHT;
current_position[Z_AXIS] += code_value_linear_units() - DELTA_HEIGHT - home_offset[Z_AXIS];
update_software_endstops(Z_AXIS);
}
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
if (code_seen('R')) delta_radius = code_value_linear_units();
if (code_seen('S')) delta_segments_per_second = code_value_float();
M665 rework and related issues (all delta's) - Making M665 compatible with repetier (see http://reprap.org/wiki/G_code#M665:_Set_delta_configuration) - M665 B also sets the radius for manual calibration menu - Converting tower ajustment definitions to arrays - tower angle corrections compatible with Esher 3D wizzard - Only tower angles need to be adjustable with M665 and stored to EEPROM - tower radius and diag rod can be adjusted in the FW only with #define
2017-04-18 12:43:25 +00:00
if (code_seen('B')) delta_calibration_radius = code_value_float();
Update M665 comment, fix M665 code_value code.
2017-05-13 10:11:29 +00:00
if (code_seen('X')) delta_tower_angle_trim[A_AXIS] = code_value_float();
if (code_seen('Y')) delta_tower_angle_trim[B_AXIS] = code_value_float();
M665 rework and related issues (all delta's) - Making M665 compatible with repetier (see http://reprap.org/wiki/G_code#M665:_Set_delta_configuration) - M665 B also sets the radius for manual calibration menu - Converting tower ajustment definitions to arrays - tower angle corrections compatible with Esher 3D wizzard - Only tower angles need to be adjustable with M665 and stored to EEPROM - tower radius and diag rod can be adjusted in the FW only with #define
2017-04-18 12:43:25 +00:00
if (code_seen('Z')) { // rotate all 3 axis for Z = 0
Update M665 comment, fix M665 code_value code.
2017-05-13 10:11:29 +00:00
delta_tower_angle_trim[A_AXIS] -= code_value_float();
delta_tower_angle_trim[B_AXIS] -= code_value_float();
M665 rework and related issues (all delta's) - Making M665 compatible with repetier (see http://reprap.org/wiki/G_code#M665:_Set_delta_configuration) - M665 B also sets the radius for manual calibration menu - Converting tower ajustment definitions to arrays - tower angle corrections compatible with Esher 3D wizzard - Only tower angles need to be adjustable with M665 and stored to EEPROM - tower radius and diag rod can be adjusted in the FW only with #define
2017-04-18 12:43:25 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
/**
* M666: Set delta endstop adjustment
*/
inline void gcode_M666() {
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(LEVELING)) {
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
SERIAL_ECHOLNPGM(">>> gcode_M666");
}
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZ(i) {
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (code_seen(axis_codes[i])) {
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
endstop_adj[i] = code_value_linear_units();
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(LEVELING)) {
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
}
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
}
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(LEVELING)) {
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
SERIAL_ECHOLNPGM("<<< gcode_M666");
}
Debug messages for homing and leveling
2015-07-09 23:57:44 +00:00
#endif
M666 normalize positive values to <=0 M666 + tower radians absolute value
2017-04-27 21:24:08 +00:00
// normalize endstops so all are <=0; set the residue to delta height
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
New Feature: Z_DUAL_ENDSTOPS Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper. That way the machine is capable to align the bed during home, since both Z steppers are homed. There is also an implementation of M666 (software endstops adjustment) to this feature. After Z homing, this adjustment is applied to just one of the steppers in order to align the bed. One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2. If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive. Play a little bit with small adjustments (0.5mm) and check the behaviour. The M119 (endstops report) will start reporting the Z2 Endstop as well.
2015-03-24 17:06:44 +00:00
/**
* M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
*/
inline void gcode_M666() {
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
if (code_seen('Z')) z_endstop_adj = code_value_linear_units();
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
New Feature: Z_DUAL_ENDSTOPS Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper. That way the machine is capable to align the bed during home, since both Z steppers are homed. There is also an implementation of M666 (software endstops adjustment) to this feature. After Z homing, this adjustment is applied to just one of the steppers in order to align the bed. One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2. If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive. Play a little bit with small adjustments (0.5mm) and check the behaviour. The M119 (endstops report) will start reporting the Z2 Endstop as well.
2015-03-24 17:06:44 +00:00
}
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#endif // !DELTA && Z_DUAL_ENDSTOPS
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(FWRETRACT)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
* M207: Set firmware retraction values
*
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* S[+units] retract_length
* W[+units] retract_length_swap (multi-extruder)
* F[units/min] retract_feedrate_mm_s
* Z[units] retract_zlift
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M207() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
Append units to feedrate variables
2016-07-16 01:49:34 +00:00
if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
if (code_seen('Z')) retract_zlift = code_value_linear_units();
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
#if EXTRUDERS > 1
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
* M208: Set firmware un-retraction values
*
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* S[+units] retract_recover_length (in addition to M207 S*)
* W[+units] retract_recover_length_swap (multi-extruder)
Append units to feedrate variables
2016-07-16 01:49:34 +00:00
* F[units/min] retract_recover_feedrate_mm_s
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M208() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
Append units to feedrate variables
2016-07-16 01:49:34 +00:00
if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
#if EXTRUDERS > 1
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
* M209: Enable automatic retract (M209 S1)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
* For slicers that don't support G10/11, reversed extrude-only
* moves will be classified as retraction.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M209() {
if (code_seen('S')) {
Adjustments to M209, G28, M605
2016-08-21 01:11:08 +00:00
autoretract_enabled = code_value_bool();
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
}
#endif // FWRETRACT
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
/**
* M211: Enable, Disable, and/or Report software endstops
*
* Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
*/
inline void gcode_M211() {
SERIAL_ECHO_START;
Add HAS_SOFTWARE_ENDSTOPS macro
2017-03-16 22:20:24 +00:00
#if HAS_SOFTWARE_ENDSTOPS
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
if (code_seen('S')) soft_endstops_enabled = code_value_bool();
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
#else
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
SERIAL_ECHOPGM(MSG_OFF);
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
#endif
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPGM(MSG_SOFT_MIN);
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPGM(MSG_SOFT_MAX);
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
}
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
#if HOTENDS > 1
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* M218 - set hotend offset (in linear units)
Add comments for extruder offset options
2016-04-13 00:16:58 +00:00
*
* T<tool>
* X<xoffset>
* Y<yoffset>
Separate SWITCHING_NOZZLE and SWITCHING_EXTRUDER
2017-05-12 19:09:40 +00:00
* Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_NOZZLE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M218() {
Save hotend_offset array (M218) in EEPROM
2016-10-28 23:39:23 +00:00
if (get_target_extruder_from_command(218) || target_extruder == 0) return;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_linear_units();
if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_linear_units();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Separate SWITCHING_NOZZLE and SWITCHING_EXTRUDER
2017-05-12 19:09:40 +00:00
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE)
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_linear_units();
Real-time filament diameter measurement and control This feature allows the printer to read the filament diameter automatically and adjust the printer in real time. Added code to read an analog voltage that represents a filament diameter measurement. This measurement is delayed in a ring buffer to compensate for sensors that are a distance away from the extruder. The measurement is used to adjust the volumetric_multiplier for the extruder. Some additional g codes (M404, M405, M406, M407) are used to set parameters and turn on/off the control. g code M221 is updated. Pins for RAMPS1.4, RAMBO, and Printrboard are identified for analog input. The configuration file is updated with relevant user parameters.
2014-08-07 00:30:57 +00:00
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
Further reduction when HOTENDS == 1
2016-07-10 04:11:17 +00:00
HOTEND_LOOP() {
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
SERIAL_CHAR(' ');
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
SERIAL_ECHO(hotend_offset[X_AXIS][e]);
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
SERIAL_CHAR(',');
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
Separate SWITCHING_NOZZLE and SWITCHING_EXTRUDER
2017-05-12 19:09:40 +00:00
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE)
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
SERIAL_CHAR(',');
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
}
SERIAL_EOL;
}
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
#endif // HOTENDS > 1
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
*/
inline void gcode_M220() {
Append units to feedrate variables
2016-07-16 01:49:34 +00:00
if (code_seen('S')) feedrate_percentage = code_value_int();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
* M221: Set extrusion percentage (M221 T0 S95)
*/
inline void gcode_M221() {
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
if (get_target_extruder_from_command(221)) return;
if (code_seen('S'))
extruder_multiplier => flow_percentage
2016-08-19 03:13:47 +00:00
flow_percentage[target_extruder] = code_value_int();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
* M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
*/
inline void gcode_M226() {
if (code_seen('P')) {
Common pin_is_protected function
2016-10-05 06:50:36 +00:00
int pin_number = code_value_int(),
pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Common pin_is_protected function
2016-10-05 06:50:36 +00:00
if (pin_state >= -1 && pin_state <= 1 && pin_number > -1 && !pin_is_protected(pin_number)) {
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Common pin_is_protected function
2016-10-05 06:50:36 +00:00
int target = LOW;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Common pin_is_protected function
2016-10-05 06:50:36 +00:00
stepper.synchronize();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Common pin_is_protected function
2016-10-05 06:50:36 +00:00
pinMode(pin_number, INPUT);
switch (pin_state) {
case 1:
target = HIGH;
break;
case 0:
target = LOW;
break;
case -1:
target = !digitalRead(pin_number);
break;
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Common pin_is_protected function
2016-10-05 06:50:36 +00:00
while (digitalRead(pin_number) != target) idle();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Common pin_is_protected function
2016-10-05 06:50:36 +00:00
} // pin_state -1 0 1 && pin_number > -1
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
} // code_seen('P')
}
M155=>M260, M156=>M261
2016-11-08 22:28:42 +00:00
#if ENABLED(EXPERIMENTAL_I2CBUS)
/**
* M260: Send data to a I2C slave device
*
* This is a PoC, the formating and arguments for the GCODE will
* change to be more compatible, the current proposal is:
*
* M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
*
* M260 B<byte-1 value in base 10>
* M260 B<byte-2 value in base 10>
* M260 B<byte-3 value in base 10>
*
* M260 S1 ; Send the buffered data and reset the buffer
* M260 R1 ; Reset the buffer without sending data
*
*/
inline void gcode_M260() {
// Set the target address
if (code_seen('A')) i2c.address(code_value_byte());
// Add a new byte to the buffer
if (code_seen('B')) i2c.addbyte(code_value_byte());
// Flush the buffer to the bus
if (code_seen('S')) i2c.send();
// Reset and rewind the buffer
else if (code_seen('R')) i2c.reset();
}
/**
* M261: Request X bytes from I2C slave device
*
* Usage: M261 A<slave device address base 10> B<number of bytes>
*/
inline void gcode_M261() {
if (code_seen('A')) i2c.address(code_value_byte());
uint8_t bytes = code_seen('B') ? code_value_byte() : 1;
if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
i2c.relay(bytes);
}
else {
SERIAL_ERROR_START;
SERIAL_ERRORLN("Bad i2c request");
}
}
#endif // EXPERIMENTAL_I2CBUS
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if HAS_SERVOS
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
* M280: Get or set servo position. P<index> [S<angle>]
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M280() {
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
if (!code_seen('P')) return;
int servo_index = code_value_int();
Add and apply WITHIN macro
2017-03-31 14:00:49 +00:00
if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
if (code_seen('S'))
MOVE_SERVO(servo_index, code_value_int());
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
else {
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
SERIAL_ECHO_START;
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPAIR(" Servo ", servo_index);
SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
}
General cleanup, code reduction in Marlin_main.cpp
2016-07-10 00:53:49 +00:00
else {
SERIAL_ERROR_START;
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPAIR("Servo ", servo_index);
SERIAL_ECHOLNPGM(" out of range");
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
}
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#endif // HAS_SERVOS
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rework buzzing (PR#2296) by: Moving HAS_LCD_BUZZ macro to Coditionals.h Renaming HAS_LCD_BUZZ to HAS_BUZZER to make clear is has nothing to do with the lcd. Removing the ULTRALCD condition. Moving declaration of lcd_buzz() out of the ULTRA_LCD block in ultralcd.h Moving definition of lcd_buzz() out of the ULTIPANEL block in ultralcd.cpp Renaming lcd_buzz() to buzz() to make clear is has nothing to do with the lcd. All buzzing code is now only dependent on the existence of a BEEPER-pin or the definition of a LCD_USE_I2C_BUZZER. To do: Check the conditions for the BEEPER-pin in all pin-files.
2015-06-14 22:12:02 +00:00
#if HAS_BUZZER
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M300: Play beep sound S<frequency Hz> P<duration ms>
*/
inline void gcode_M300() {
Non-blocking buzzer
2016-06-04 19:29:01 +00:00
uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
// Limits the tone duration to 0-5 seconds.
NOMORE(duration, 5000);
Buzzer requires BEEPER_PIN
2016-08-02 04:10:53 +00:00
BUZZ(duration, frequency);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Rework buzzing (PR#2296) by: Moving HAS_LCD_BUZZ macro to Coditionals.h Renaming HAS_LCD_BUZZ to HAS_BUZZER to make clear is has nothing to do with the lcd. Removing the ULTRALCD condition. Moving declaration of lcd_buzz() out of the ULTRA_LCD block in ultralcd.h Moving definition of lcd_buzz() out of the ULTIPANEL block in ultralcd.cpp Renaming lcd_buzz() to buzz() to make clear is has nothing to do with the lcd. All buzzing code is now only dependent on the existence of a BEEPER-pin or the definition of a LCD_USE_I2C_BUZZER. To do: Check the conditions for the BEEPER-pin in all pin-files.
2015-06-14 22:12:02 +00:00
#endif // HAS_BUZZER
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(PIDTEMP)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Implement PID_ADD_EXTRUSION_RATE
2015-08-31 02:04:30 +00:00
* M301: Set PID parameters P I D (and optionally C, L)
*
* P[float] Kp term
* I[float] Ki term (unscaled)
* D[float] Kd term (unscaled)
*
PID_EXTRUSION_SCALING, disabled by default
2016-08-01 00:49:34 +00:00
* With PID_EXTRUSION_SCALING:
Implement PID_ADD_EXTRUSION_RATE
2015-08-31 02:04:30 +00:00
*
* C[float] Kc term
* L[float] LPQ length
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M301() {
// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
// default behaviour (omitting E parameter) is to update for extruder 0 only
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
int e = code_seen('E') ? code_value_int() : 0; // extruder being updated
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
if (e < HOTENDS) { // catch bad input value
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
PID_EXTRUSION_SCALING, disabled by default
2016-08-01 00:49:34 +00:00
#if ENABLED(PID_EXTRUSION_SCALING)
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
if (code_seen('L')) lpq_len = code_value_float();
Implement PID_ADD_EXTRUSION_RATE
2015-08-31 02:04:30 +00:00
NOMORE(lpq_len, LPQ_MAX_LEN);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Temperature singleton class
2016-04-29 01:18:13 +00:00
thermalManager.updatePID();
Replace the "ok" in M280, M301, M304, M851 with output not including an "ok" Replace the "ok" in M280, M301, M304, M851 with output not including an "ok" to avoid senting two "ok"s for a single g-code. Doing the same for M105 would break the input filters of the hosts. For M105 the other "ok" is omitted.
2016-02-09 12:36:03 +00:00
SERIAL_ECHO_START;
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
#if ENABLED(PID_PARAMS_PER_HOTEND)
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
#endif // PID_PARAMS_PER_HOTEND
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
PID_EXTRUSION_SCALING, disabled by default
2016-08-01 00:49:34 +00:00
#if ENABLED(PID_EXTRUSION_SCALING)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
//Kc does not have scaling applied above, or in resetting defaults
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
SERIAL_EOL;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
else {
Replace the "ok" in M280, M301, M304, M851 with output not including an "ok" Replace the "ok" in M280, M301, M304, M851 with output not including an "ok" to avoid senting two "ok"s for a single g-code. Doing the same for M105 would break the input filters of the hosts. For M105 the other "ok" is omitted.
2016-02-09 12:36:03 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
}
#endif // PIDTEMP
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(PIDTEMPBED)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
inline void gcode_M304() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('P')) thermalManager.bedKp = code_value_float();
if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
Temperature singleton class
2016-04-29 01:18:13 +00:00
thermalManager.updatePID();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Replace the "ok" in M280, M301, M304, M851 with output not including an "ok" Replace the "ok" in M280, M301, M304, M851 with output not including an "ok" to avoid senting two "ok"s for a single g-code. Doing the same for M105 would break the input filters of the hosts. For M105 the other "ok" is omitted.
2016-02-09 12:36:03 +00:00
SERIAL_ECHO_START;
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
#endif // PIDTEMPBED
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if defined(CHDK) || HAS_PHOTOGRAPH
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M240: Trigger a camera by emulating a Canon RC-1
* See http://www.doc-diy.net/photo/rc-1_hacked/
*/
inline void gcode_M240() {
#ifdef CHDK
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
OUT_WRITE(CHDK, HIGH);
chdkHigh = millis();
chdkActive = true;
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#elif HAS_PHOTOGRAPH
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
const uint8_t NUM_PULSES = 16;
const float PULSE_LENGTH = 0.01524;
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
delay(7.33);
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#endif // !CHDK && HAS_PHOTOGRAPH
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
#endif // CHDK || PHOTOGRAPH_PIN
Make HAS_LCD_CONTRAST a boolean flag
2016-05-31 18:47:02 +00:00
#if HAS_LCD_CONTRAST
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M250: Read and optionally set the LCD contrast
*/
inline void gcode_M250() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('C')) set_lcd_contrast(code_value_int());
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
SERIAL_PROTOCOLPGM("lcd contrast value: ");
SERIAL_PROTOCOL(lcd_contrast);
Clarify thermal_runaway_protection - Add comments documenting `thermal_runaway_protection` - Add an enum for the thermal runaway states - Add macros for temperature helper functions - Fix a glitch with the z probe sled in homeaxis
2015-04-02 12:10:14 +00:00
SERIAL_EOL;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Aplied HAS_LCD_CONTRAST also to Marlin_main.cpp and cleaned typo.
2015-04-08 11:26:29 +00:00
#endif // HAS_LCD_CONTRAST
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
PREVENT_DANGEROUS_EXTRUDE => PREVENT_COLD_EXTRUSION Also improve the documentation of this and related options, and set EXTRUDE_MINTEMP to 170 everywhere.
2016-08-21 04:34:24 +00:00
#if ENABLED(PREVENT_COLD_EXTRUSION)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Add "P" parameter to M302
2016-07-06 15:28:09 +00:00
* M302: Allow cold extrudes, or set the minimum extrude temperature
*
* S<temperature> sets the minimum extrude temperature
* P<bool> enables (1) or disables (0) cold extrusion
*
* Examples:
*
* M302 ; report current cold extrusion state
* M302 P0 ; enable cold extrusion checking
* M302 P1 ; disables cold extrusion checking
* M302 S0 ; always allow extrusion (disables checking)
* M302 S170 ; only allow extrusion above 170
* M302 S170 P1 ; set min extrude temp to 170 but leave disabled
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M302() {
Add "P" parameter to M302
2016-07-06 15:28:09 +00:00
bool seen_S = code_seen('S');
if (seen_S) {
thermalManager.extrude_min_temp = code_value_temp_abs();
thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
}
if (code_seen('P'))
thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
else if (!seen_S) {
// Report current state
SERIAL_ECHO_START;
SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
Temp-related cosmetic changes
2017-05-21 09:49:25 +00:00
SERIAL_ECHOPAIR("abled (min temp ", thermalManager.extrude_min_temp);
Add "P" parameter to M302
2016-07-06 15:28:09 +00:00
SERIAL_ECHOLNPGM("C)");
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
PREVENT_DANGEROUS_EXTRUDE => PREVENT_COLD_EXTRUSION Also improve the documentation of this and related options, and set EXTRUDE_MINTEMP to 170 everywhere.
2016-08-21 04:34:24 +00:00
#endif // PREVENT_COLD_EXTRUSION
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M303: PID relay autotune
Make Autotune options into Menu Edit Items
2016-03-22 01:10:08 +00:00
*
* S<temperature> sets the target temperature. (default 150C)
* E<extruder> (-1 for the bed) (default 0)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
* C<cycles>
Make Autotune options into Menu Edit Items
2016-03-22 01:10:08 +00:00
* U<bool> with a non-zero value will apply the result to current settings
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M303() {
Allow setting PIDTEMP and PIDTEMPBED together or apart
2016-04-20 01:09:29 +00:00
#if HAS_PID_HEATING
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
const int e = code_seen('E') ? code_value_int() : 0,
c = code_seen('C') ? code_value_int() : 5;
const bool u = code_seen('U') && code_value_bool();
Added gplv3 header to all Marlin files
2016-03-24 18:01:20 +00:00
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
int16_t temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70 : 150);
Host parseble output for M109, M190 and M303 Make the output of M105 more similar to Repetier. Make the text-print pert of M105 an extra function to make it reusable. `print_heaterstates()` Use `print_heaterstates()` in M019, M190 and M303
2015-11-09 23:02:11 +00:00
Add and apply WITHIN macro
2017-03-31 14:00:49 +00:00
if (WITHIN(e, 0, HOTENDS - 1))
Apply indentation to gcode_M303, PID_autotune
2016-04-19 02:02:11 +00:00
target_extruder = e;
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
Apply indentation to gcode_M303, PID_autotune
2016-04-19 02:02:11 +00:00
KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
Make Autotune options into Menu Edit Items
2016-03-22 01:10:08 +00:00
Temperature singleton class
2016-04-29 01:18:13 +00:00
thermalManager.PID_autotune(temp, e, c, u);
Make Autotune options into Menu Edit Items
2016-03-22 01:10:08 +00:00
Apply indentation to gcode_M303, PID_autotune
2016-04-19 02:02:11 +00:00
KEEPALIVE_STATE(IN_HANDLER);
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
#if ENABLED(MORGAN_SCARA)
Adjust comments, spacing
2016-09-15 18:34:24 +00:00
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
IsStopped / IsRunning inline
2015-04-08 07:56:19 +00:00
if (IsRunning()) {
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
forward_kinematics_SCARA(delta_a, delta_b);
Patch SCARA_move_to_cal for coordinate space
2016-09-15 18:58:42 +00:00
destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
destination[Z_AXIS] = current_position[Z_AXIS];
Clarify names of prepare_move functions
2016-06-11 02:23:41 +00:00
prepare_move_to_destination();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
return true;
}
return false;
}
Refactor SCARA calibration. Save some lines of code and possibly ROM.
2015-03-21 23:32:22 +00:00
/**
* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
*/
inline bool gcode_M360() {
Reduce storage requirements for strings, make some PGM
2016-06-27 23:29:35 +00:00
SERIAL_ECHOLNPGM(" Cal: Theta 0");
Refactor SCARA calibration. Save some lines of code and possibly ROM.
2015-03-21 23:32:22 +00:00
return SCARA_move_to_cal(0, 120);
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
*/
inline bool gcode_M361() {
Reduce storage requirements for strings, make some PGM
2016-06-27 23:29:35 +00:00
SERIAL_ECHOLNPGM(" Cal: Theta 90");
Refactor SCARA calibration. Save some lines of code and possibly ROM.
2015-03-21 23:32:22 +00:00
return SCARA_move_to_cal(90, 130);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
* M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
*/
inline bool gcode_M362() {
Reduce storage requirements for strings, make some PGM
2016-06-27 23:29:35 +00:00
SERIAL_ECHOLNPGM(" Cal: Psi 0");
Refactor SCARA calibration. Save some lines of code and possibly ROM.
2015-03-21 23:32:22 +00:00
return SCARA_move_to_cal(60, 180);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
* M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
*/
inline bool gcode_M363() {
Reduce storage requirements for strings, make some PGM
2016-06-27 23:29:35 +00:00
SERIAL_ECHOLNPGM(" Cal: Psi 90");
Refactor SCARA calibration. Save some lines of code and possibly ROM.
2015-03-21 23:32:22 +00:00
return SCARA_move_to_cal(50, 90);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
* M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline bool gcode_M364() {
Reduce storage requirements for strings, make some PGM
2016-06-27 23:29:35 +00:00
SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
Refactor SCARA calibration. Save some lines of code and possibly ROM.
2015-03-21 23:32:22 +00:00
return SCARA_move_to_cal(45, 135);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
#endif // SCARA
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(EXT_SOLENOID)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Add support for SOLENOID_PROBE
2017-04-14 21:36:02 +00:00
void enable_solenoid(const uint8_t num) {
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
switch (num) {
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
case 0:
OUT_WRITE(SOL0_PIN, HIGH);
break;
Additional 5 extruders support (solenoids, microstepping)
2017-04-14 22:14:14 +00:00
#if HAS_SOLENOID_1 && EXTRUDERS > 1
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
case 1:
OUT_WRITE(SOL1_PIN, HIGH);
break;
#endif
Additional 5 extruders support (solenoids, microstepping)
2017-04-14 22:14:14 +00:00
#if HAS_SOLENOID_2 && EXTRUDERS > 2
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
case 2:
OUT_WRITE(SOL2_PIN, HIGH);
break;
#endif
Additional 5 extruders support (solenoids, microstepping)
2017-04-14 22:14:14 +00:00
#if HAS_SOLENOID_3 && EXTRUDERS > 3
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
case 3:
OUT_WRITE(SOL3_PIN, HIGH);
break;
#endif
Additional 5 extruders support (solenoids, microstepping)
2017-04-14 22:14:14 +00:00
#if HAS_SOLENOID_4 && EXTRUDERS > 4
case 4:
OUT_WRITE(SOL4_PIN, HIGH);
break;
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
default:
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
break;
}
}
void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
void disable_all_solenoids() {
OUT_WRITE(SOL0_PIN, LOW);
Additional 5 extruders support (solenoids, microstepping)
2017-04-14 22:14:14 +00:00
#if HAS_SOLENOID_1 && EXTRUDERS > 1
OUT_WRITE(SOL1_PIN, LOW);
#endif
#if HAS_SOLENOID_2 && EXTRUDERS > 2
OUT_WRITE(SOL2_PIN, LOW);
#endif
#if HAS_SOLENOID_3 && EXTRUDERS > 3
OUT_WRITE(SOL3_PIN, LOW);
#endif
#if HAS_SOLENOID_4 && EXTRUDERS > 4
OUT_WRITE(SOL4_PIN, LOW);
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
* M380: Enable solenoid on the active extruder
*/
inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
/**
* M381: Disable all solenoids
*/
inline void gcode_M381() { disable_all_solenoids(); }
#endif // EXT_SOLENOID
/**
* M400: Finish all moves
*/
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
inline void gcode_M400() { stepper.synchronize(); }
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Make M401/M402 available with HAS_BED_PROBE
2016-06-21 22:04:09 +00:00
#if HAS_BED_PROBE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M401: Engage Z Servo endstop if available
*/
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
inline void gcode_M401() { DEPLOY_PROBE(); }
Raise Z for M401 and M402
2015-04-16 14:24:33 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M402: Retract Z Servo endstop if enabled
*/
Make use of the good features of a sled probe for all probes. Move and extend axis_unhomed test to deploy/stow_z_probe(). Move and extend position store/restore to deploy/stow_z_probe(). Now all kinds of probes can use the 'E' parameter in G29/M48. Allen key probes can be used now for grid and 3-point levelling. Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. Throw a compile time error when we try to configure an Allen Key probe homing to z-min and having no other z-min-endstop.
2016-07-06 01:40:21 +00:00
inline void gcode_M402() { STOW_PROBE(); }
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Make M401/M402 available with HAS_BED_PROBE
2016-06-21 22:04:09 +00:00
#endif // HAS_BED_PROBE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
FILAMENT_SENSOR -> FILAMENT_WIDTH_SENSOR
2016-03-30 03:28:23 +00:00
#if ENABLED(FILAMENT_WIDTH_SENSOR)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M404() {
Patch broken M404
2016-03-30 03:43:41 +00:00
if (code_seen('W')) {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
filament_width_nominal = code_value_linear_units();
Patch broken M404
2016-03-30 03:43:41 +00:00
}
else {
SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
SERIAL_PROTOCOLLN(filament_width_nominal);
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M405: Turn on filament sensor for control
*/
inline void gcode_M405() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
// This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
// everything else, it uses code_value_int() instead of code_value_linear_units().
if (code_seen('D')) meas_delay_cm = code_value_int();
Use macros where possible Apply `constrain`, `NOMORE`, `NOLESS` and `CRITICAL_SECTION` macros wherever possible.
2016-02-22 06:17:32 +00:00
NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Tweak Filament Width variables
2016-09-06 04:57:12 +00:00
if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
Cosmetic patches
2017-04-26 07:43:11 +00:00
const int temp_ratio = thermalManager.widthFil_to_size_ratio() - 100; // -100 to scale within a signed byte
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Fix FILAMENT_WIDTH_SENSOR measurement Only measure and store filament width when E is going forward.
2016-04-07 02:29:08 +00:00
for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
Cosmetic patches
2017-04-26 07:43:11 +00:00
measurement_delay[i] = temp_ratio;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Tweak Filament Width variables
2016-09-06 04:57:12 +00:00
filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
filament_sensor = true;
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
extruder_multiplier => flow_percentage
2016-08-19 03:13:47 +00:00
//SERIAL_PROTOCOL(flow_percentage[active_extruder]);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
* M406: Turn off filament sensor for control
*/
inline void gcode_M406() { filament_sensor = false; }
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M407: Get measured filament diameter on serial output
*/
inline void gcode_M407() {
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
SERIAL_PROTOCOLLN(filament_width_meas);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
FILAMENT_SENSOR -> FILAMENT_WIDTH_SENSOR
2016-03-30 03:28:23 +00:00
#endif // FILAMENT_WIDTH_SENSOR
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Add quickstop_stepper to update current position with stepper.quick_stop()
2016-07-06 19:00:28 +00:00
void quickstop_stepper() {
stepper.quick_stop();
Use unapply_leveling in set_current_from_steppers_for_axis
2016-09-15 20:02:36 +00:00
stepper.synchronize();
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
set_current_position_from_planner() after stepper.quick_stop()
2016-05-31 22:16:21 +00:00
}
Add M410 QuickStop command
2015-04-19 06:07:48 +00:00
Adjust leveling conditionals
2017-05-01 21:13:09 +00:00
#if HAS_LEVELING
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
/**
Add a fade factor for mesh leveling
2016-11-26 05:32:47 +00:00
* M420: Enable/Disable Bed Leveling and/or set the Z fade height.
*
Further repairs to UBL, comments, spacing
2017-03-31 02:32:50 +00:00
* S[bool] Turns leveling on or off
* Z[height] Sets the Z fade height (0 or none to disable)
* V[bool] Verbose - Print the leveling grid
*
Reduce M420 code for UBL slightly
2017-04-05 23:14:25 +00:00
* With AUTO_BED_LEVELING_UBL only:
Reduce UBL RAM usage by making G26/G29 optional
2017-03-21 06:30:26 +00:00
*
Reduce M420 code for UBL slightly
2017-04-05 23:14:25 +00:00
* L[index] Load UBL mesh from index (0 is default)
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
*/
Add a fade factor for mesh leveling
2016-11-26 05:32:47 +00:00
inline void gcode_M420() {
Throw an error in M420 if can't enable
2016-12-10 08:41:47 +00:00
Reduce UBL RAM usage by making G26/G29 optional
2017-03-21 06:30:26 +00:00
#if ENABLED(AUTO_BED_LEVELING_UBL)
// L to load a mesh from the EEPROM
if (code_seen('L')) {
Implement CRC16, develop mesh allocation table - Add crc16 utility function - Implement CRC16 for config store, remove old checksum, increment layout version - Move UBL mesh store/load to MarlinSettings; increment UBL_VERSION - Begin to lay out MAT structure, prototype functions, etc. - Rename ubl.state.eeprom_storage_slot to .storage_slot - Misc. optimization - Cleanup/standardize/improve some messages This is a work in progress!
2017-05-07 01:00:56 +00:00
const int8_t storage_slot = code_has_value() ? code_value_int() : ubl.state.storage_slot;
const int16_t a = settings.calc_num_meshes();
if (!a) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
return;
}
if (!WITHIN(storage_slot, 0, a - 1)) {
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
Reduce UBL RAM usage by making G26/G29 optional
2017-03-21 06:30:26 +00:00
return;
}
Further repairs to UBL, comments, spacing
2017-03-31 02:32:50 +00:00
Implement CRC16, develop mesh allocation table - Add crc16 utility function - Implement CRC16 for config store, remove old checksum, increment layout version - Move UBL mesh store/load to MarlinSettings; increment UBL_VERSION - Begin to lay out MAT structure, prototype functions, etc. - Rename ubl.state.eeprom_storage_slot to .storage_slot - Misc. optimization - Cleanup/standardize/improve some messages This is a work in progress!
2017-05-07 01:00:56 +00:00
settings.load_mesh(storage_slot);
ubl.state.storage_slot = storage_slot;
Reduce UBL RAM usage by making G26/G29 optional
2017-03-21 06:30:26 +00:00
}
#endif // AUTO_BED_LEVELING_UBL
// V to print the matrix or mesh
if (code_seen('V')) {
#if ABL_PLANAR
Modify debug methods to take PSTR
2017-05-02 21:46:11 +00:00
planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:"));
Reduce UBL RAM usage by making G26/G29 optional
2017-03-21 06:30:26 +00:00
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (bilinear_grid_spacing[X_AXIS]) {
print_bilinear_leveling_grid();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_print();
#endif
}
#elif ENABLED(MESH_BED_LEVELING)
if (mbl.has_mesh()) {
SERIAL_ECHOLNPGM("Mesh Bed Level data:");
mbl_mesh_report();
}
#endif
}
Reduce M420 code for UBL slightly
2017-04-05 23:14:25 +00:00
#if ENABLED(AUTO_BED_LEVELING_UBL)
// L to load a mesh from the EEPROM
if (code_seen('L') || code_seen('V')) {
ubl.display_map(0); // Currently only supports one map type
SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID);
Implement CRC16, develop mesh allocation table - Add crc16 utility function - Implement CRC16 for config store, remove old checksum, increment layout version - Move UBL mesh store/load to MarlinSettings; increment UBL_VERSION - Begin to lay out MAT structure, prototype functions, etc. - Rename ubl.state.eeprom_storage_slot to .storage_slot - Misc. optimization - Cleanup/standardize/improve some messages This is a work in progress!
2017-05-07 01:00:56 +00:00
SERIAL_ECHOLNPAIR("ubl.state.storage_slot = ", ubl.state.storage_slot);
Reduce M420 code for UBL slightly
2017-04-05 23:14:25 +00:00
}
#endif
Reduce UBL RAM usage by making G26/G29 optional
2017-03-21 06:30:26 +00:00
bool to_enable = false;
Throw an error in M420 if can't enable
2016-12-10 08:41:47 +00:00
if (code_seen('S')) {
to_enable = code_value_bool();
set_bed_leveling_enabled(to_enable);
}
Add a fade factor for mesh leveling
2016-11-26 05:32:47 +00:00
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (code_seen('Z')) set_z_fade_height(code_value_linear_units());
#endif
Throw an error in M420 if can't enable
2016-12-10 08:41:47 +00:00
Have bed leveling status output current status, not requested.
2016-12-18 20:23:40 +00:00
const bool new_status =
Throw an error in M420 if can't enable
2016-12-10 08:41:47 +00:00
#if ENABLED(MESH_BED_LEVELING)
mbl.active()
UBL patch from Bob-the-Kuhn
2017-03-20 20:38:25 +00:00
#elif ENABLED(AUTO_BED_LEVELING_UBL)
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
ubl.state.active
Throw an error in M420 if can't enable
2016-12-10 08:41:47 +00:00
#else
planner.abl_enabled
#endif
Have bed leveling status output current status, not requested.
2016-12-18 20:23:40 +00:00
;
if (to_enable && !new_status) {
Throw an error in M420 if can't enable
2016-12-10 08:41:47 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED);
}
Extend `M420` to print state and, with `V`, the matrix / mesh
2016-12-16 03:04:28 +00:00
SERIAL_ECHO_START;
Have bed leveling status output current status, not requested.
2016-12-18 20:23:40 +00:00
SERIAL_ECHOLNPAIR("Bed Leveling ", new_status ? MSG_ON : MSG_OFF);
Add a fade factor for mesh leveling
2016-11-26 05:32:47 +00:00
}
M420 can now enable/disable ABL
2016-09-29 06:03:28 +00:00
#endif
Formatting / cleanup
2017-04-08 06:53:22 +00:00
#if ENABLED(MESH_BED_LEVELING)
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
*
* Usage:
* M421 X<linear> Y<linear> Z<linear>
* M421 X<linear> Y<linear> Q<offset>
* M421 I<xindex> J<yindex> Z<linear>
* M421 I<xindex> J<yindex> Q<offset>
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
*/
inline void gcode_M421() {
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
const bool hasX = code_seen('X'), hasI = code_seen('I');
Fix recent regressions, &c. - fix broken `M421` due to less-than-careful optimization - add HOME_AFTER_DEACTIVATE define to advanced config so not everyone has to rehome after steppers are deactivated - misc. cleanups (remove unused label, unused variables)
2017-05-17 21:16:38 +00:00
const int8_t ix = hasI ? code_value_int() : hasX ? mbl.probe_index_x(RAW_X_POSITION(code_value_linear_units())) : -1;
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
const bool hasY = code_seen('Y'), hasJ = code_seen('J');
Fix recent regressions, &c. - fix broken `M421` due to less-than-careful optimization - add HOME_AFTER_DEACTIVATE define to advanced config so not everyone has to rehome after steppers are deactivated - misc. cleanups (remove unused label, unused variables)
2017-05-17 21:16:38 +00:00
const int8_t iy = hasJ ? code_value_int() : hasY ? mbl.probe_index_y(RAW_Y_POSITION(code_value_linear_units())) : -1;
const bool hasZ = code_seen('Z'), hasQ = !hasZ && code_seen('Q');
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
Fix recent regressions, &c. - fix broken `M421` due to less-than-careful optimization - add HOME_AFTER_DEACTIVATE define to advanced config so not everyone has to rehome after steppers are deactivated - misc. cleanups (remove unused label, unused variables)
2017-05-17 21:16:38 +00:00
if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ)) {
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
SERIAL_ERROR_START;
Small reduction in M421 code
2016-05-22 02:06:27 +00:00
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
}
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
else if (ix < 0 || iy < 0) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
}
else
mbl.set_z(ix, iy, code_value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0));
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
}
M421: Add 'adjust closest point' capability - Split M421 into separate versions for bilinear and ubl - Fix minor issue in G26
2017-05-11 16:10:38 +00:00
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
Add M421 for ABL Bilinear
2016-12-16 03:18:59 +00:00
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
*
M421 tweaks, just to use const
2017-05-12 05:00:27 +00:00
* Usage:
Add M421 for ABL Bilinear
2016-12-16 03:18:59 +00:00
* M421 I<xindex> J<yindex> Z<linear>
M421 Mesh Point Offset and misc. UBL clean up (#6685) * M421 Mesh Point Offset and misc. UBL clean up Allow M421 to accept an offset as well as absolute value for a specified mesh point. And misc. UBL clean up to reduce redundent code. * Better error checking for M421 * Fix M421 Y index bug I just noticed.... We've had a Y index bug for who knows how long?
2017-05-10 23:54:10 +00:00
* M421 I<xindex> J<yindex> Q<offset>
Add M421 for ABL Bilinear
2016-12-16 03:18:59 +00:00
*/
inline void gcode_M421() {
M421 tweaks, just to use const
2017-05-12 05:00:27 +00:00
const bool hasI = code_seen('I');
Fix recent regressions, &c. - fix broken `M421` due to less-than-careful optimization - add HOME_AFTER_DEACTIVATE define to advanced config so not everyone has to rehome after steppers are deactivated - misc. cleanups (remove unused label, unused variables)
2017-05-17 21:16:38 +00:00
const int8_t ix = hasI ? code_value_int() : -1;
M421 tweaks, just to use const
2017-05-12 05:00:27 +00:00
const bool hasJ = code_seen('J');
Fix recent regressions, &c. - fix broken `M421` due to less-than-careful optimization - add HOME_AFTER_DEACTIVATE define to advanced config so not everyone has to rehome after steppers are deactivated - misc. cleanups (remove unused label, unused variables)
2017-05-17 21:16:38 +00:00
const int8_t iy = hasJ ? code_value_int() : -1;
const bool hasZ = code_seen('Z'), hasQ = !hasZ && code_seen('Q');
Add M421 for ABL Bilinear
2016-12-16 03:18:59 +00:00
Fix recent regressions, &c. - fix broken `M421` due to less-than-careful optimization - add HOME_AFTER_DEACTIVATE define to advanced config so not everyone has to rehome after steppers are deactivated - misc. cleanups (remove unused label, unused variables)
2017-05-17 21:16:38 +00:00
if (!hasI || !hasJ || !(hasZ || hasQ)) {
M421 Mesh Point Offset and misc. UBL clean up (#6685) * M421 Mesh Point Offset and misc. UBL clean up Allow M421 to accept an offset as well as absolute value for a specified mesh point. And misc. UBL clean up to reduce redundent code. * Better error checking for M421 * Fix M421 Y index bug I just noticed.... We've had a Y index bug for who knows how long?
2017-05-10 23:54:10 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
}
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
Add M421 for ABL Bilinear
2016-12-16 03:18:59 +00:00
SERIAL_ERROR_START;
M421 Mesh Point Offset and misc. UBL clean up (#6685) * M421 Mesh Point Offset and misc. UBL clean up Allow M421 to accept an offset as well as absolute value for a specified mesh point. And misc. UBL clean up to reduce redundent code. * Better error checking for M421 * Fix M421 Y index bug I just noticed.... We've had a Y index bug for who knows how long?
2017-05-10 23:54:10 +00:00
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
Add M421 for ABL Bilinear
2016-12-16 03:18:59 +00:00
}
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
else {
z_values[ix][iy] = code_value_linear_units() + (hasQ ? z_values[ix][iy] : 0);
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
}
Add M421 for ABL Bilinear
2016-12-16 03:18:59 +00:00
}
M421: Add 'adjust closest point' capability - Split M421 into separate versions for bilinear and ubl - Fix minor issue in G26
2017-05-11 16:10:38 +00:00
#elif ENABLED(AUTO_BED_LEVELING_UBL)
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
*
M421 tweaks, just to use const
2017-05-12 05:00:27 +00:00
* Usage:
M421: Add 'adjust closest point' capability - Split M421 into separate versions for bilinear and ubl - Fix minor issue in G26
2017-05-11 16:10:38 +00:00
* M421 I<xindex> J<yindex> Z<linear>
* M421 I<xindex> J<yindex> Q<offset>
M421 tweaks, just to use const
2017-05-12 05:00:27 +00:00
* M421 C Z<linear>
* M421 C Q<offset>
M421: Add 'adjust closest point' capability - Split M421 into separate versions for bilinear and ubl - Fix minor issue in G26
2017-05-11 16:10:38 +00:00
*/
inline void gcode_M421() {
Fix recent regressions, &c. - fix broken `M421` due to less-than-careful optimization - add HOME_AFTER_DEACTIVATE define to advanced config so not everyone has to rehome after steppers are deactivated - misc. cleanups (remove unused label, unused variables)
2017-05-17 21:16:38 +00:00
const bool hasC = code_seen('C');
const bool hasI = code_seen('I');
int8_t ix = hasI ? code_value_int() : -1;
M421 tweaks, just to use const
2017-05-12 05:00:27 +00:00
const bool hasJ = code_seen('J');
Fix recent regressions, &c. - fix broken `M421` due to less-than-careful optimization - add HOME_AFTER_DEACTIVATE define to advanced config so not everyone has to rehome after steppers are deactivated - misc. cleanups (remove unused label, unused variables)
2017-05-17 21:16:38 +00:00
int8_t iy = hasJ ? code_value_int() : -1;
const bool hasZ = code_seen('Z'), hasQ = !hasZ && code_seen('Q');
if (hasC) {
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false);
ix = location.x_index;
iy = location.y_index;
}
M421 tweaks, just to use const
2017-05-12 05:00:27 +00:00
Fix recent regressions, &c. - fix broken `M421` due to less-than-careful optimization - add HOME_AFTER_DEACTIVATE define to advanced config so not everyone has to rehome after steppers are deactivated - misc. cleanups (remove unused label, unused variables)
2017-05-17 21:16:38 +00:00
if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ)) {
M421: Add 'adjust closest point' capability - Split M421 into separate versions for bilinear and ubl - Fix minor issue in G26
2017-05-11 16:10:38 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
}
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
M421: Add 'adjust closest point' capability - Split M421 into separate versions for bilinear and ubl - Fix minor issue in G26
2017-05-11 16:10:38 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
}
Fix up M421 and some comments
2017-05-13 05:43:12 +00:00
else
ubl.z_values[ix][iy] = code_value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
M421: Add 'adjust closest point' capability - Split M421 into separate versions for bilinear and ubl - Fix minor issue in G26
2017-05-11 16:10:38 +00:00
}
M421 tweaks, just to use const
2017-05-12 05:00:27 +00:00
#endif // AUTO_BED_LEVELING_UBL
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_M206_COMMAND
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
/**
* M428: Set home_offset based on the distance between the
* current_position and the nearest "reference point."
* If an axis is past center its endstop position
* is the reference-point. Otherwise it uses 0. This allows
* the Z offset to be set near the bed when using a max endstop.
*
* M428 can't be used more than 2cm away from 0 or an endstop.
*
* Use M206 to set these values directly.
*/
inline void gcode_M428() {
bool err = false;
LOOP_XYZ(i) {
if (axis_homed[i]) {
Fixes #6828: M428 bug
2017-05-22 22:34:03 +00:00
const float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
diff = base - RAW_POSITION(current_position[i], i);
Add and apply WITHIN macro
2017-03-31 14:00:49 +00:00
if (WITHIN(diff, -20, 20)) {
Fixes #6828: M428 bug
2017-05-22 22:34:03 +00:00
set_home_offset((AxisEnum)i, diff);
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
}
else {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
LCD_ALERTMESSAGEPGM("Err: Too far!");
BUZZ(200, 40);
err = true;
break;
}
Don't apply M428 if an error occurs - Also move audio feedback into the command - Added shorthand for `lcd_buzz` availability
2015-04-30 02:05:48 +00:00
}
Add M428 to set home_offset logically
2015-04-30 01:26:16 +00:00
}
Don't apply M428 if an error occurs - Also move audio feedback into the command - Added shorthand for `lcd_buzz` availability
2015-04-30 02:05:48 +00:00
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
if (!err) {
SYNC_PLAN_POSITION_KINEMATIC();
report_current_position();
LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
Audible feedback for settings store/load/reset
2017-03-20 11:10:31 +00:00
BUZZ(100, 659);
BUZZ(100, 698);
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
}
Don't apply M428 if an error occurs - Also move audio feedback into the command - Added shorthand for `lcd_buzz` availability
2015-04-30 02:05:48 +00:00
}
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#endif // HAS_M206_COMMAND
Add M428 to set home_offset logically
2015-04-30 01:26:16 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M500: Store settings in EEPROM
*/
inline void gcode_M500() {
Convert config code to a static class
2017-04-10 02:47:49 +00:00
(void)settings.save();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
* M501: Read settings from EEPROM
*/
inline void gcode_M501() {
Convert config code to a static class
2017-04-10 02:47:49 +00:00
(void)settings.load();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
* M502: Revert to default settings
*/
inline void gcode_M502() {
Convert config code to a static class
2017-04-10 02:47:49 +00:00
(void)settings.reset();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
/**
* M503: print settings currently in memory
*/
inline void gcode_M503() {
Convert config code to a static class
2017-04-10 02:47:49 +00:00
(void)settings.report(code_seen('S') && !code_value_bool());
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
*/
inline void gcode_M540() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('S')) stepper.abort_on_endstop_hit = code_value_bool();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
#endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
Make M851 standard with a bed probe
2016-06-15 01:05:20 +00:00
#if HAS_BED_PROBE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
static float last_zoffset = NAN;
Reduce gcode_SET_Z_PROBE_OFFSET by 88 bytes
2015-08-13 00:52:50 +00:00
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
if (!isnan(last_zoffset)) {
Reduce gcode_SET_Z_PROBE_OFFSET by 88 bytes
2015-08-13 00:52:50 +00:00
Solved "The Travis CI build failed "
2017-04-28 16:47:23 +00:00
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
const float diff = zprobe_zoffset - last_zoffset;
#endif
Adjust bilinear grid in M851
2017-03-24 11:28:30 +00:00
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Correct bilinear grid for new probe offset
if (diff) {
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
z_values[x][y] -= diff;
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
Adjust bilinear grid in M851
2017-03-24 11:28:30 +00:00
#endif
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
#endif
Adjust bilinear grid in M851
2017-03-24 11:28:30 +00:00
Add BABYSTEP_ZPROBE_OFFSET as an optional feature
2017-04-13 21:29:43 +00:00
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
if (!no_babystep && planner.abl_enabled)
thermalManager.babystep_axis(Z_AXIS, -lround(diff * planner.axis_steps_per_mm[Z_AXIS]));
#else
UNUSED(no_babystep);
#endif
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
z_offset change Avoids to have to recalibrate the delta_height after a z_offset change
2017-04-26 18:30:58 +00:00
#if ENABLED(DELTA) // correct the delta_height
home_offset[Z_AXIS] -= diff;
#endif
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
}
last_zoffset = zprobe_zoffset;
}
Use babystepping to adjust bed probe z-offset
2017-02-12 23:20:24 +00:00
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
inline void gcode_M851() {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET " ");
if (code_seen('Z')) {
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
const float value = code_value_linear_units();
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
Reverse the sign of zprobe_zoffset - When editing on the LCD, minus now means below the nozzle - Stores the opposite sign in EEPROM, so bumped to “V20”
2015-05-27 00:47:04 +00:00
zprobe_zoffset = value;
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
refresh_zprobe_zoffset();
Replace the "ok" in M280, M301, M304, M851 with output not including an "ok" Replace the "ok" in M280, M301, M304, M851 with output not including an "ok" to avoid senting two "ok"s for a single g-code. Doing the same for M105 would break the input filters of the hosts. For M105 the other "ok" is omitted.
2016-02-09 12:36:03 +00:00
SERIAL_ECHO(zprobe_zoffset);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
else
SERIAL_ECHOPGM(MSG_Z_MIN " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MIN) " " MSG_Z_MAX " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MAX));
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add code to handle changes to zprobe_zoffset
2017-04-11 10:05:23 +00:00
else
Reduce gcode_SET_Z_PROBE_OFFSET by 88 bytes
2015-08-13 00:52:50 +00:00
SERIAL_ECHOPAIR(": ", zprobe_zoffset);
Save another 30 bytes in gcode_SET_Z_PROBE_OFFSET
2015-08-13 00:56:21 +00:00
SERIAL_EOL;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Make M851 standard with a bed probe
2016-06-15 01:05:20 +00:00
#endif // HAS_BED_PROBE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
#if ENABLED(FILAMENT_CHANGE_FEATURE)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Patch filament change options and beep code
2017-03-18 02:35:31 +00:00
void filament_change_beep(const bool init=false) {
static millis_t next_buzz = 0;
static uint16_t runout_beep = 0;
if (init) next_buzz = runout_beep = 0;
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
Simplify filament_change_beep function
2017-02-10 06:30:33 +00:00
const millis_t ms = millis();
if (ELAPSED(ms, next_buzz)) {
if (runout_beep <= FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS + 5) { // Only beep as long as we're supposed to
next_buzz = ms + (runout_beep <= FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS ? 2500 : 400);
BUZZ(300, 2000);
runout_beep++;
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
}
}
}
Spacing, coding standards
2017-02-10 06:13:58 +00:00
static bool busy_doing_M600 = false;
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Cleanup M600 documentation comments
2015-06-16 00:54:41 +00:00
* M600: Pause for filament change
*
* E[distance] - Retract the filament this far (negative value)
* Z[distance] - Move the Z axis by this distance
* X[position] - Move to this X position, with Y
* Y[position] - Move to this Y position, with X
* L[distance] - Retract distance for removal (manual reload)
*
* Default values are used for omitted arguments.
*
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M600() {
Replace target with destination in M600
2015-06-16 00:52:51 +00:00
Allow M600 when dryrun debugging
2016-12-22 01:30:51 +00:00
if (!DEBUGGING(DRYRUN) && thermalManager.tooColdToExtrude(active_extruder)) {
Check the temperature before filament change
2015-06-16 00:50:26 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
return;
}
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
busy_doing_M600 = true; // Stepper Motors can't timeout when this is set
Pause the print job timer while in M600
2017-02-15 07:01:00 +00:00
// Pause the print job timer
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
const bool job_running = print_job_timer.isRunning();
Pause the print job timer while in M600
2017-02-15 07:01:00 +00:00
print_job_timer.pause();
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
// Show initial message and wait for synchronize steppers
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
stepper.synchronize();
// Save current position of all axes
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
float lastpos[XYZE];
COPY(lastpos, current_position);
set_destination_to_current();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
// Initial retract before move to filament change position
Commentary / style in gcode_M600
2017-02-18 05:56:48 +00:00
destination[E_AXIS] += code_seen('E') ? code_value_axis_units(E_AXIS) : 0
#if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
- (FILAMENT_CHANGE_RETRACT_LENGTH)
#endif
;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
// Lift Z axis
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
float z_lift = code_seen('Z') ? code_value_linear_units() :
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
#if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
FILAMENT_CHANGE_Z_ADD
#else
0
#endif
;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
if (z_lift > 0) {
destination[Z_AXIS] += z_lift;
NOMORE(destination[Z_AXIS], Z_MAX_POS);
RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
// Move XY axes to filament exchange position
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
if (code_seen('X')) destination[X_AXIS] = code_value_linear_units();
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
#ifdef FILAMENT_CHANGE_X_POS
else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
if (code_seen('Y')) destination[Y_AXIS] = code_value_linear_units();
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
#ifdef FILAMENT_CHANGE_Y_POS
else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
stepper.synchronize();
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
idle();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
// Unload filament
Commentary / style in gcode_M600
2017-02-18 05:56:48 +00:00
destination[E_AXIS] += code_seen('L') ? code_value_axis_units(E_AXIS) : 0
#if FILAMENT_CHANGE_UNLOAD_LENGTH > 0
- (FILAMENT_CHANGE_UNLOAD_LENGTH)
#endif
;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
// Synchronize steppers and then disable extruders steppers for manual filament changing
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Add disable_e_steppers function
2017-03-18 02:12:19 +00:00
disable_e_steppers();
Use safe_delay to ensure watchdog reset
2017-03-27 04:49:56 +00:00
safe_delay(100);
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
const millis_t nozzle_timeout = millis() + (millis_t)(FILAMENT_CHANGE_NOZZLE_TIMEOUT) * 1000UL;
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
bool nozzle_timed_out = false;
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
// Wait for filament insert by user and press button
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
Patch filament change options and beep code
2017-03-18 02:35:31 +00:00
#if HAS_BUZZER
filament_change_beep(true);
#endif
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
idle();
Treat temperature as integer, when possible
2017-05-03 22:12:14 +00:00
int16_t temps[HOTENDS];
Spacing, coding standards
2017-02-10 06:13:58 +00:00
HOTEND_LOOP() temps[e] = thermalManager.target_temperature[e]; // Save nozzle temps
Centralize click-handling in the LCD loop
2016-10-26 06:42:52 +00:00
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
KEEPALIVE_STATE(PAUSED_FOR_USER);
Patch filament change options and beep code
2017-03-18 02:35:31 +00:00
wait_for_user = true; // LCD click or M108 will clear this
Centralize click-handling in the LCD loop
2016-10-26 06:42:52 +00:00
while (wait_for_user) {
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
Spacing, coding standards
2017-02-10 06:13:58 +00:00
if (nozzle_timed_out)
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
Spacing, coding standards
2017-02-10 06:13:58 +00:00
Bug Fix: Switching extruder tool change leaves Z in wrong position The tool_change function saves the current_position to the destination array soon after starting. Later in the switching extruder section, the destination array is modified when moving the Z axis up & down. A later section of tool_change moves the head back to the “original location” using the destination array. This later section assumes that the destination array hasn’t been modified. The fix is to save the destination Z position and then restore it after the Z movements have completed. Going back to using the current_position array for the switching extruder Z axis moves (and leaving the destination array untouched) doesn’t fix the problem. This bug was introduced by the “Make tool_change kinematic compatible” commit # 847429eff4b3d9e8343ddccc88ab61f06c059449 which was merged on 10 Oct 2016 as part of PR 4982. This bug was discovered in Issue 5966.
2017-03-14 07:25:34 +00:00
#if HAS_BUZZER
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
filament_change_beep();
Spacing, coding standards
2017-02-10 06:13:58 +00:00
#endif
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
if (!nozzle_timed_out && ELAPSED(millis(), nozzle_timeout)) {
nozzle_timed_out = true; // on nozzle timeout remember the nozzles need to be reheated
HOTEND_LOOP() thermalManager.setTargetHotend(0, e); // Turn off all the nozzles
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
}
idle(true);
}
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
KEEPALIVE_STATE(IN_HANDLER);
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
Spacing, coding standards
2017-02-10 06:13:58 +00:00
if (nozzle_timed_out) // Turn nozzles back on if they were turned off
HOTEND_LOOP() thermalManager.setTargetHotend(temps[e], e);
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
Spacing, coding standards
2017-02-10 06:13:58 +00:00
// Show "wait for heating"
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT);
wait_for_heatup = true;
while (wait_for_heatup) {
idle();
wait_for_heatup = false;
HOTEND_LOOP() {
if (abs(thermalManager.degHotend(e) - temps[e]) > 3) {
wait_for_heatup = true;
break;
}
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
}
}
Spacing, coding standards
2017-02-10 06:13:58 +00:00
// Show "insert filament"
if (nozzle_timed_out)
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
Patch filament change options and beep code
2017-03-18 02:35:31 +00:00
#if HAS_BUZZER
filament_change_beep(true);
#endif
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
KEEPALIVE_STATE(PAUSED_FOR_USER);
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
wait_for_user = true; // LCD click or M108 will clear this
Spacing, coding standards
2017-02-10 06:13:58 +00:00
while (wait_for_user && nozzle_timed_out) {
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
#if HAS_BUZZER
filament_change_beep();
* Auto filament change on CHANGEFILAMENT feature. Now you can activate this option that extrude filament until you press the button.
2015-04-09 12:23:34 +00:00
#endif
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
idle(true);
}
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
KEEPALIVE_STATE(IN_HANDLER);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Spacing, coding standards
2017-02-10 06:13:58 +00:00
// Show "load" message
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
// Load filament
Commentary / style in gcode_M600
2017-02-18 05:56:48 +00:00
destination[E_AXIS] += code_seen('L') ? -code_value_axis_units(E_AXIS) : 0
#if FILAMENT_CHANGE_LOAD_LENGTH > 0
+ FILAMENT_CHANGE_LOAD_LENGTH
#endif
;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
stepper.synchronize();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
#if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
Bug Fix: Switching extruder tool change leaves Z in wrong position The tool_change function saves the current_position to the destination array soon after starting. Later in the switching extruder section, the destination array is modified when moving the Z axis up & down. A later section of tool_change moves the head back to the “original location” using the destination array. This later section assumes that the destination array hasn’t been modified. The fix is to save the destination Z position and then restore it after the Z movements have completed. Going back to using the current_position array for the switching extruder Z axis moves (and leaving the destination array untouched) doesn’t fix the problem. This bug was introduced by the “Make tool_change kinematic compatible” commit # 847429eff4b3d9e8343ddccc88ab61f06c059449 which was merged on 10 Oct 2016 as part of PR 4982. This bug was discovered in Issue 5966.
2017-03-14 07:25:34 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
do {
Commentary / style in gcode_M600
2017-02-18 05:56:48 +00:00
// "Wait for filament extrude"
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
Commentary / style in gcode_M600
2017-02-18 05:56:48 +00:00
// Extrude filament to get into hotend
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
stepper.synchronize();
Commentary / style in gcode_M600
2017-02-18 05:56:48 +00:00
// Show "Extrude More" / "Resume" menu and wait for reply
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
KEEPALIVE_STATE(PAUSED_FOR_USER);
Commentary / style in gcode_M600
2017-02-18 05:56:48 +00:00
wait_for_user = false;
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
KEEPALIVE_STATE(IN_HANDLER);
Commentary / style in gcode_M600
2017-02-18 05:56:48 +00:00
// Keep looping if "Extrude More" was selected
} while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_EXTRUDE_MORE);
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
#endif
Commentary / style in gcode_M600
2017-02-18 05:56:48 +00:00
// "Wait for print to resume"
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
// Set extruder to saved position
Use a, b, c instead of lx, ly, lz
2016-10-09 18:25:25 +00:00
destination[E_AXIS] = current_position[E_AXIS] = lastpos[E_AXIS];
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
planner.set_e_position_mm(current_position[E_AXIS]);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Add conditionals for kinematics, leveling
2016-09-12 01:11:30 +00:00
#if IS_KINEMATIC
Improve planner kinematics, fix delta ABL
2016-10-06 08:56:05 +00:00
// Move XYZ to starting position
planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#else
Improve planner kinematics, fix delta ABL
2016-10-06 08:56:05 +00:00
// Move XY to starting position, then Z
Replace target with destination in M600
2015-06-16 00:52:51 +00:00
destination[X_AXIS] = lastpos[X_AXIS];
destination[Y_AXIS] = lastpos[Y_AXIS];
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
Replace target with destination in M600
2015-06-16 00:52:51 +00:00
destination[Z_AXIS] = lastpos[Z_AXIS];
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
#endif
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
stepper.synchronize();
Filament Runout Sensor Feature With this change a mechanical or optical switch may be used to check the availability of the filament and when the filament runs out an M600 (filament change) command is issued. This is only done while printing with an SD card. This feature was requested several times (issue #679), but the requests were not accepted since it was believed that this situation should be handled at host side. However during an SD print the control is totally on firmware and I think that during an SD print it should be handled by the firmware. The original code was posted at reprap forum (http://forums.reprap.org/read.php?1,297350) by Lazymonk. I have only corrected some bugs of the code and improved it by adding definitions to the configuration.h in order to make it more standardized.
2015-03-07 20:43:15 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
Rename filament runout items
2016-04-18 06:16:49 +00:00
filament_ran_out = false;
Filament Runout Sensor Feature With this change a mechanical or optical switch may be used to check the availability of the filament and when the filament runs out an M600 (filament change) command is issued. This is only done while printing with an SD card. This feature was requested several times (issue #679), but the requests were not accepted since it was believed that this situation should be handled at host side. However during an SD print the control is totally on firmware and I think that during an SD print it should be handled by the firmware. The original code was posted at reprap forum (http://forums.reprap.org/read.php?1,297350) by Lazymonk. I have only corrected some bugs of the code and improved it by adding definitions to the configuration.h in order to make it more standardized.
2015-03-07 20:43:15 +00:00
#endif
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
// Show status screen
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
Pause the print job timer while in M600
2017-02-15 07:01:00 +00:00
// Resume the print job timer if it was running
if (job_running) print_job_timer.start();
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
busy_doing_M600 = false; // Allow Stepper Motors to be turned off during inactivity
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
#endif // FILAMENT_CHANGE_FEATURE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M605: Set dual x-carriage movement mode
*
* M605 S0: Full control mode. The slicer has full control over x-carriage movement
* M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
* M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
References to millimeters in code comments need an update
2016-07-04 03:08:22 +00:00
* units x-offset and an optional differential hotend temperature of
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
* mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
* the first with a spacing of 100mm in the x direction and 2 degrees hotter.
*
* Note: the X axis should be homed after changing dual x-carriage mode.
*/
inline void gcode_M605() {
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Make dual_x_carriage_mode an enumeration
2016-11-03 02:37:46 +00:00
if (code_seen('S')) dual_x_carriage_mode = (DualXMode)code_value_byte();
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
switch (dual_x_carriage_mode) {
Fix up Dual X switch blocks
2016-11-03 02:38:26 +00:00
case DXC_FULL_CONTROL_MODE:
case DXC_AUTO_PARK_MODE:
break;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
case DXC_DUPLICATION_MODE:
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_linear_units(), X2_MIN_POS - x_home_pos(0));
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
SERIAL_CHAR(' ');
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
SERIAL_ECHO(hotend_offset[X_AXIS][0]);
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
SERIAL_CHAR(',');
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
SERIAL_CHAR(' ');
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
SERIAL_ECHO(duplicate_extruder_x_offset);
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
SERIAL_CHAR(',');
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
break;
default:
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
break;
}
active_extruder_parked = false;
extruder_duplication_enabled = false;
delayed_move_time = 0;
}
Implement DUAL_NOZZLE_DUPLICATION_MODE
2016-07-20 17:30:10 +00:00
#elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
inline void gcode_M605() {
stepper.synchronize();
2 is DXC_DUPLICATION_MODE
2017-04-11 13:33:23 +00:00
extruder_duplication_enabled = code_seen('S') && code_value_int() == (int)DXC_DUPLICATION_MODE;
Implement DUAL_NOZZLE_DUPLICATION_MODE
2016-07-20 17:30:10 +00:00
SERIAL_ECHO_START;
Adjustments to M209, G28, M605
2016-08-21 01:11:08 +00:00
SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
Implement DUAL_NOZZLE_DUPLICATION_MODE
2016-07-20 17:30:10 +00:00
}
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif // DUAL_NOZZLE_DUPLICATION_MODE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Add LIN_ADVANCE
2016-05-04 16:53:17 +00:00
#if ENABLED(LIN_ADVANCE)
Patch LIN_ADVANCE for style and forward-compatibility
2016-05-04 19:10:42 +00:00
/**
Replace M905 with unique code M900
2017-04-17 05:27:49 +00:00
* M900: Set and/or Get advance K factor and WH/D ratio
Add M905 R for setting the E/D ratio directly
2017-04-16 23:42:05 +00:00
*
* K<factor> Set advance K factor
* R<ratio> Set ratio directly (overrides WH/D)
* W<width> H<height> D<diam> Set ratio from WH/D
Patch LIN_ADVANCE for style and forward-compatibility
2016-05-04 19:10:42 +00:00
*/
Replace M905 with unique code M900
2017-04-17 05:27:49 +00:00
inline void gcode_M900() {
Patch LIN_ADVANCE for style and forward-compatibility
2016-05-04 19:10:42 +00:00
stepper.synchronize();
Reduce E_D_ratio code
2017-03-01 23:40:07 +00:00
Add M905 R for setting the E/D ratio directly
2017-04-16 23:42:05 +00:00
const float newK = code_seen('K') ? code_value_float() : -1;
Drop the accessor form for LCD value editing
2017-04-22 03:30:36 +00:00
if (newK >= 0) planner.extruder_advance_k = newK;
Reduce E_D_ratio code
2017-03-01 23:40:07 +00:00
Add M905 R for setting the E/D ratio directly
2017-04-16 23:42:05 +00:00
float newR = code_seen('R') ? code_value_float() : -1;
if (newR < 0) {
const float newD = code_seen('D') ? code_value_float() : -1,
newW = code_seen('W') ? code_value_float() : -1,
newH = code_seen('H') ? code_value_float() : -1;
if (newD >= 0 && newW >= 0 && newH >= 0)
newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
}
Drop the accessor form for LCD value editing
2017-04-22 03:30:36 +00:00
if (newR >= 0) planner.advance_ed_ratio = newR;
Add option to fix E/D ratio Work around for slicers producing buggy gcode.
2017-02-27 17:53:43 +00:00
SERIAL_ECHO_START;
Drop the accessor form for LCD value editing
2017-04-22 03:30:36 +00:00
SERIAL_ECHOPAIR("Advance K=", planner.extruder_advance_k);
Add M905 R for setting the E/D ratio directly
2017-04-16 23:42:05 +00:00
SERIAL_ECHOPGM(" E/D=");
Drop the accessor form for LCD value editing
2017-04-22 03:30:36 +00:00
const float ratio = planner.advance_ed_ratio;
Patch issue in gcode_M900 Noted in #6550
2017-05-03 20:26:00 +00:00
if (ratio) SERIAL_ECHO(ratio); else SERIAL_ECHOPGM("Auto");
Add M905 R for setting the E/D ratio directly
2017-04-16 23:42:05 +00:00
SERIAL_EOL;
Patch LIN_ADVANCE for style and forward-compatibility
2016-05-04 19:10:42 +00:00
}
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif // LIN_ADVANCE
#if ENABLED(HAVE_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" axis driver current: ");
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
SERIAL_ECHOLN(st.getCurrent());
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
}
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) {
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
tmc2130_get_current(st, name);
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
}
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
SERIAL_EOL;
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
}
static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
st.clear_otpw();
SERIAL_CHAR(name);
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) {
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" stealthChop max speed set to ");
SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm));
}
static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) {
st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm));
tmc2130_get_pwmthrs(st, name, spmm);
}
static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" driver homing sensitivity set to ");
SERIAL_ECHOLN(st.sgt());
}
static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
st.sgt(sgt_val);
tmc2130_get_sgt(st, name);
}
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
/**
* M906: Set motor current in milliamps using axis codes X, Y, Z, E
* Report driver currents when no axis specified
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
*
* S1: Enable automatic current control
* S0: Disable
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
*/
inline void gcode_M906() {
Use XYZE rather than NUM_AXIS
2017-03-18 02:14:05 +00:00
uint16_t values[XYZE];
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
LOOP_XYZE(i)
values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
#if ENABLED(X_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]);
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
else tmc2130_get_current(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]);
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
else tmc2130_get_current(stepperY, 'Y');
#endif
#if ENABLED(Z_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]);
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
else tmc2130_get_current(stepperZ, 'Z');
#endif
#if ENABLED(E0_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]);
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
else tmc2130_get_current(stepperE0, 'E');
#endif
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
if (code_seen('S')) auto_current_control = code_value_bool();
#endif
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
}
/**
* M911: Report TMC2130 stepper driver overtemperature pre-warn flag
* The flag is held by the library and persist until manually cleared by M912
*/
inline void gcode_M911() {
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
const bool reportX = code_seen('X'), reportY = code_seen('Y'), reportZ = code_seen('Z'), reportE = code_seen('E'),
reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE);
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#if ENABLED(X_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X');
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(Y_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y');
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(Z_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z');
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(E0_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E');
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
}
/**
* M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
*/
inline void gcode_M912() {
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
const bool clearX = code_seen('X'), clearY = code_seen('Y'), clearZ = code_seen('Z'), clearE = code_seen('E'),
clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#if ENABLED(X_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X');
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(Y_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y');
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(Z_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z');
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(E0_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E');
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
}
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
/**
* M913: Set HYBRID_THRESHOLD speed.
*/
#if ENABLED(HYBRID_THRESHOLD)
inline void gcode_M913() {
uint16_t values[XYZE];
LOOP_XYZE(i)
values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
#if ENABLED(X_IS_TMC2130)
if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]);
#endif
#if ENABLED(Y_IS_TMC2130)
if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if ENABLED(Z_IS_TMC2130)
if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(E0_IS_TMC2130)
if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]);
#endif
}
#endif // HYBRID_THRESHOLD
/**
* M914: Set SENSORLESS_HOMING sensitivity.
*/
#if ENABLED(SENSORLESS_HOMING)
inline void gcode_M914() {
#if ENABLED(X_IS_TMC2130)
if (code_seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', code_value_int());
else tmc2130_get_sgt(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
if (code_seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', code_value_int());
else tmc2130_get_sgt(stepperY, 'Y');
#endif
}
#endif // SENSORLESS_HOMING
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif // HAVE_TMC2130
Add LIN_ADVANCE
2016-05-04 16:53:17 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
*/
inline void gcode_M907() {
- Rename WRITE_E_STEP for consistency - Add BIT and TEST macros - Add _APPLY_ macros to stepper.cpp to help with consolidation - Consolidate code in stepper.cpp using macros - Apply standards in stepper.cpp - Use >= 0 instead of > -1 as a better semantic - Replace DUAL_Y_CARRIAGE with Y_DUAL_STEPPER_DRIVERS
2015-03-14 11:28:22 +00:00
#if HAS_DIGIPOTSS
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('B')) stepper.digipot_current(4, code_value_int());
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
if (code_seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
Clean up digital pots and microsteps
2016-09-25 11:32:58 +00:00
#elif HAS_MOTOR_CURRENT_PWM
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
if (code_seen('X')) stepper.digipot_current(0, code_value_int());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
if (code_seen('E')) stepper.digipot_current(2, code_value_int());
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DIGIPOT_I2C)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
// this one uses actual amps in floating point
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
Add M907-M910 g-codes support for Printrbot Rev. F
2016-03-20 01:19:41 +00:00
#if ENABLED(DAC_STEPPER_CURRENT)
if (code_seen('S')) {
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
const float dac_percent = code_value_float();
Add M907-M910 g-codes support for Printrbot Rev. F
2016-03-20 01:19:41 +00:00
for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
}
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
Add M907-M910 g-codes support for Printrbot Rev. F
2016-03-20 01:19:41 +00:00
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add M907-M910 g-codes support for Printrbot Rev. F
2016-03-20 01:19:41 +00:00
#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M908: Control digital trimpot directly (M908 P<pin> S<current>)
*/
inline void gcode_M908() {
Make digitalPotWrite depend on HAS_DIGIPOTSS
2016-03-20 01:44:08 +00:00
#if HAS_DIGIPOTSS
Additional follow-up the PR #3631(Encapsulate S... Additional follow-up the PR #3631(Encapsulate Stepper, Planner, Endstops in singleton classes) ・Change from abort_on_endstop_hit to stepper.abort_on_endstop_hit in endstop.cpp, Marlin_main.cpp, and ultralcd.cpp ・Add include path to cardreader.h and temperature.h in endstop.cpp(for CardReader class and disable_all_heaters()) It fix compilation error when ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED and SDSUPPORT are enabled. ・Change from digipot_current() to stepper.digipot_current() in Marlin_main.cpp ・Change from digitalPotWrite() to stepper.digitalPotWrite() in Marlin_main.cpp It fix compilation errors when HAS_DIGIPOTSS is enabled. ・Change from microstep_mode() to stepper.microstep_mode() in Marlin_main.cpp ・Change attribute of microstep_mode() from private to public in stepper.h ・Change from microstep_readings() to stepper.microstep_readings() in Marlin_main.cpp ・Change from microstep_ms() to stepper.microstep_ms() in Marlin_main. It fix compilation errors when HAS_MICROSTEPS is enabled.
2016-05-03 09:23:27 +00:00
stepper.digitalPotWrite(
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
code_seen('P') ? code_value_int() : 0,
code_seen('S') ? code_value_int() : 0
Make digitalPotWrite depend on HAS_DIGIPOTSS
2016-03-20 01:44:08 +00:00
);
#endif
Add M907-M910 g-codes support for Printrbot Rev. F
2016-03-20 01:19:41 +00:00
#ifdef DAC_STEPPER_CURRENT
dac_current_raw(
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
code_seen('P') ? code_value_byte() : -1,
code_seen('S') ? code_value_ushort() : 0
Add M907-M910 g-codes support for Printrbot Rev. F
2016-03-20 01:19:41 +00:00
);
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Add M907-M910 g-codes support for Printrbot Rev. F
2016-03-20 01:19:41 +00:00
#if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
inline void gcode_M909() { dac_print_values(); }
inline void gcode_M910() { dac_commit_eeprom(); }
#endif
#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_MICROSTEPS
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
inline void gcode_M350() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
Additional follow-up the PR #3631(Encapsulate S... Additional follow-up the PR #3631(Encapsulate Stepper, Planner, Endstops in singleton classes) ・Change from abort_on_endstop_hit to stepper.abort_on_endstop_hit in endstop.cpp, Marlin_main.cpp, and ultralcd.cpp ・Add include path to cardreader.h and temperature.h in endstop.cpp(for CardReader class and disable_all_heaters()) It fix compilation error when ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED and SDSUPPORT are enabled. ・Change from digipot_current() to stepper.digipot_current() in Marlin_main.cpp ・Change from digitalPotWrite() to stepper.digitalPotWrite() in Marlin_main.cpp It fix compilation errors when HAS_DIGIPOTSS is enabled. ・Change from microstep_mode() to stepper.microstep_mode() in Marlin_main.cpp ・Change attribute of microstep_mode() from private to public in stepper.h ・Change from microstep_readings() to stepper.microstep_readings() in Marlin_main.cpp ・Change from microstep_ms() to stepper.microstep_ms() in Marlin_main. It fix compilation errors when HAS_MICROSTEPS is enabled.
2016-05-03 09:23:27 +00:00
stepper.microstep_readings();
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
/**
* M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
* S# determines MS1 or MS2, X# sets the pin high/low.
*/
inline void gcode_M351() {
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('S')) switch (code_value_byte()) {
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
case 1:
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
break;
case 2:
Macros to loop over axes
2016-07-23 20:07:23 +00:00
LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
break;
}
Additional follow-up the PR #3631(Encapsulate S... Additional follow-up the PR #3631(Encapsulate Stepper, Planner, Endstops in singleton classes) ・Change from abort_on_endstop_hit to stepper.abort_on_endstop_hit in endstop.cpp, Marlin_main.cpp, and ultralcd.cpp ・Add include path to cardreader.h and temperature.h in endstop.cpp(for CardReader class and disable_all_heaters()) It fix compilation error when ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED and SDSUPPORT are enabled. ・Change from digipot_current() to stepper.digipot_current() in Marlin_main.cpp ・Change from digitalPotWrite() to stepper.digitalPotWrite() in Marlin_main.cpp It fix compilation errors when HAS_DIGIPOTSS is enabled. ・Change from microstep_mode() to stepper.microstep_mode() in Marlin_main.cpp ・Change attribute of microstep_mode() from private to public in stepper.h ・Change from microstep_readings() to stepper.microstep_readings() in Marlin_main.cpp ・Change from microstep_ms() to stepper.microstep_ms() in Marlin_main. It fix compilation errors when HAS_MICROSTEPS is enabled.
2016-05-03 09:23:27 +00:00
stepper.microstep_readings();
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
}
#endif // HAS_MICROSTEPS
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Case light G-code M355 implemented G-Code M355 into Marlin
2016-10-05 19:34:07 +00:00
#if HAS_CASE_LIGHT
Stateful M355 with separate P parameter
2016-11-09 09:07:24 +00:00
Fix and optimize case-light code
2016-11-28 05:51:51 +00:00
uint8_t case_light_brightness = 255;
void update_case_light() {
Use direct pin manipulation whenever possible
2017-04-14 21:36:12 +00:00
WRITE(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? HIGH : LOW);
Allow case light pin to be active low
2016-12-02 05:31:03 +00:00
analogWrite(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? case_light_brightness : 0);
Fix and optimize case-light code
2016-11-28 05:51:51 +00:00
}
Support for M335 case light "no case light"
2016-12-19 04:41:02 +00:00
#endif // HAS_CASE_LIGHT
/**
* M355: Turn case lights on/off and set brightness
*
* S<bool> Turn case light on or off
* P<byte> Set case light brightness (PWM pin required)
*/
inline void gcode_M355() {
#if HAS_CASE_LIGHT
Stateful M355 with separate P parameter
2016-11-09 09:07:24 +00:00
if (code_seen('P')) case_light_brightness = code_value_byte();
Fix and optimize case-light code
2016-11-28 05:51:51 +00:00
if (code_seen('S')) case_light_on = code_value_bool();
update_case_light();
Stateful M355 with separate P parameter
2016-11-09 09:07:24 +00:00
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Case lights ");
case_light_on ? SERIAL_ECHOLNPGM("on") : SERIAL_ECHOLNPGM("off");
Support for M335 case light "no case light"
2016-12-19 04:41:02 +00:00
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE);
#endif // HAS_CASE_LIGHT
}
Case light G-code M355 implemented G-Code M355 into Marlin
2016-10-05 19:34:07 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(MIXING_EXTRUDER)
/**
* M163: Set a single mix factor for a mixing extruder
* This is called "weight" by some systems.
*
* S[index] The channel index to set
* P[float] The mix value
*
*/
inline void gcode_M163() {
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
const int mix_index = code_seen('S') ? code_value_int() : 0;
Store Mix factors as reciprocals and multiply
2016-11-12 20:33:07 +00:00
if (mix_index < MIXING_STEPPERS) {
float mix_value = code_seen('P') ? code_value_float() : 0.0;
NOLESS(mix_value, 0.0);
mixing_factor[mix_index] = RECIPROCAL(mix_value);
}
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
}
#if MIXING_VIRTUAL_TOOLS > 1
/**
* M164: Store the current mix factors as a virtual tool.
*
* S[index] The virtual tool to store
*
*/
inline void gcode_M164() {
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
const int tool_index = code_seen('S') ? code_value_int() : 0;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
if (tool_index < MIXING_VIRTUAL_TOOLS) {
normalize_mix();
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
}
}
#endif
#if ENABLED(DIRECT_MIXING_IN_G1)
/**
* M165: Set multiple mix factors for a mixing extruder.
* Factors that are left out will be set to 0.
* All factors together must add up to 1.0.
*
* A[factor] Mix factor for extruder stepper 1
* B[factor] Mix factor for extruder stepper 2
* C[factor] Mix factor for extruder stepper 3
* D[factor] Mix factor for extruder stepper 4
* H[factor] Mix factor for extruder stepper 5
* I[factor] Mix factor for extruder stepper 6
*
*/
inline void gcode_M165() { gcode_get_mix(); }
#endif
#endif // MIXING_EXTRUDER
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
* M999: Restart after being stopped
Implements S1 argument in M999
2016-05-18 23:13:33 +00:00
*
* Default behaviour is to flush the serial buffer and request
* a resend to the host starting on the last N line received.
*
* Sending "M999 S1" will resume printing without flushing the
* existing command buffer.
*
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
inline void gcode_M999() {
IsStopped / IsRunning inline
2015-04-08 07:56:19 +00:00
Running = true;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
lcd_reset_alert_level();
Implements S1 argument in M999
2016-05-18 23:13:33 +00:00
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
if (code_seen('S') && code_value_bool()) return;
Implements S1 argument in M999
2016-05-18 23:13:33 +00:00
Continue from the line following the M999 (PR#60) If the printer is going to accept the M999, then it should continue from that line number.
2015-08-07 02:57:35 +00:00
// gcode_LastN = Stopped_gcode_LastN;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
FlushSerialRequestResend();
}
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(SWITCHING_EXTRUDER)
inline void move_extruder_servo(uint8_t e) {
const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
Use safe_delay to ensure watchdog reset
2017-03-27 04:49:56 +00:00
safe_delay(500);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
}
#endif
Separate SWITCHING_NOZZLE and SWITCHING_EXTRUDER
2017-05-12 19:09:40 +00:00
#if ENABLED(SWITCHING_NOZZLE)
inline void move_nozzle_servo(uint8_t e) {
const int angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, angles[e]);
safe_delay(500);
}
#endif
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
inline void invalid_extruder_error(const uint8_t &e) {
SERIAL_ECHO_START;
SERIAL_CHAR('T');
Additional cleanup of UBL code
2017-03-20 06:42:41 +00:00
SERIAL_ECHO_F(e, DEC);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place.
*/
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
return invalid_extruder_error(tmp_extruder);
Additional patches for gcode_T position change
2016-07-04 01:06:54 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// T0-Tnnn: Switch virtual tool by changing the mix
for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
Fix feedrate after toolchange The fix is simple. Most changes are because of changed indendation, bacause of leaving early for wrong tool number
2016-04-26 22:57:45 +00:00
Patch #else / #endif comments
2017-05-09 17:35:43 +00:00
#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
Fix gcode_T
2016-06-16 07:05:36 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if HOTENDS > 1
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
if (tmp_extruder >= EXTRUDERS)
return invalid_extruder_error(tmp_extruder);
Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe
2016-07-15 01:34:08 +00:00
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe
2016-07-15 01:34:08 +00:00
General cleanup, const usage, var naming
2017-03-04 00:23:31 +00:00
feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe
2016-07-15 01:34:08 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
if (tmp_extruder != active_extruder) {
More constraint on axis_unhomed_error
2017-05-14 20:57:37 +00:00
if (!no_move && axis_unhomed_error()) {
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
SERIAL_ECHOLNPGM("No move on toolchange");
no_move = true;
}
// Save current position to destination, for use later
set_destination_to_current();
#if ENABLED(DUAL_X_CARRIAGE)
Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe
2016-07-15 01:34:08 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
SERIAL_ECHOPGM("Dual X Carriage Mode ");
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
Fix up Dual X switch blocks
2016-11-03 02:38:26 +00:00
case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
}
Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe
2016-07-15 01:34:08 +00:00
}
#endif
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning()
&& (delayed_move_time || current_position[X_AXIS] != xhome)
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
) {
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
Software endstop options as simple switches
2017-03-17 01:03:57 +00:00
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
#endif
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
SERIAL_ECHOLNPAIR("Raise to ", raised_z);
SERIAL_ECHOLNPAIR("MoveX to ", xhome);
SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
}
#endif
// Park old head: 1) raise 2) move to park position 3) lower
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
i == 0 ? current_position[X_AXIS] : xhome,
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
current_position[Y_AXIS],
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
i == 2 ? current_position[Z_AXIS] : raised_z,
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
current_position[E_AXIS],
Append units to feedrate variables
2016-07-16 01:49:34 +00:00
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
active_extruder
);
stepper.synchronize();
}
Add code_value_short and SERIAL_CHAR
2015-04-04 04:43:30 +00:00
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
// Activate the new extruder
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
active_extruder = tmp_extruder;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// This function resets the max/min values - the current position may be overwritten below.
set_axis_is_at_home(X_AXIS);
Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe
2016-07-15 01:34:08 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
#endif
Fixes an PSTR overflow with print_xyz()
2016-07-15 10:25:34 +00:00
Only DXC_AUTO_PARK_MODE should auto-move in tool_change
2016-11-07 08:46:16 +00:00
// Only when auto-parking are carriages safe to move
if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
// New current position is the position of the activated extruder
Fix inactive_extruder_x_pos for coordinate space
2016-07-24 23:35:03 +00:00
current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
// Save the inactive extruder's position (from the old current_position)
Fix inactive_extruder_x_pos for coordinate space
2016-07-24 23:35:03 +00:00
inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
break;
Fix Z raise with DXC_AUTO_PARK_MODE
2016-11-03 02:36:50 +00:00
case DXC_AUTO_PARK_MODE:
// record raised toolhead position for use by unpark
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(raised_parked_position, current_position);
Fix Z raise with DXC_AUTO_PARK_MODE
2016-11-03 02:36:50 +00:00
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
Software endstop options as simple switches
2017-03-17 01:03:57 +00:00
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
Fix Z raise with DXC_AUTO_PARK_MODE
2016-11-03 02:36:50 +00:00
NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
active_extruder_parked = true;
delayed_move_time = 0;
break;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
case DXC_DUPLICATION_MODE:
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
// If the new extruder is the left one, set it "parked"
// This triggers the second extruder to move into the duplication position
active_extruder_parked = (active_extruder == 0);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
if (active_extruder_parked)
Fix inactive_extruder_x_pos for coordinate space
2016-07-24 23:35:03 +00:00
current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
Fix inactive_extruder_x_pos for coordinate space
2016-07-24 23:35:03 +00:00
inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
extruder_duplication_enabled = false;
Extra logging of Dual X modes
2017-04-15 04:47:53 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
}
#endif
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
break;
Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe
2016-07-15 01:34:08 +00:00
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Fix feedrate after toolchange The fix is simple. Most changes are because of changed indendation, bacause of leaving early for wrong tool number
2016-04-26 22:57:45 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
DEBUG_POS("New extruder (parked)", current_position);
Fix feedrate after toolchange The fix is simple. Most changes are because of changed indendation, bacause of leaving early for wrong tool number
2016-04-26 22:57:45 +00:00
}
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#else // !DUAL_X_CARRIAGE
Separate SWITCHING_NOZZLE and SWITCHING_EXTRUDER
2017-05-12 19:09:40 +00:00
#if ENABLED(SWITCHING_NOZZLE)
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
Improved solution to tool-change bug
2017-03-17 02:25:19 +00:00
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
Moves all global enums to a central file
2016-07-19 13:31:09 +00:00
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
// Always raise by some amount (destination copied from current_position earlier)
Improved solution to tool-change bug
2017-03-17 02:25:19 +00:00
current_position[Z_AXIS] += z_raise;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
stepper.synchronize();
Moves all global enums to a central file
2016-07-19 13:31:09 +00:00
Separate SWITCHING_NOZZLE and SWITCHING_EXTRUDER
2017-05-12 19:09:40 +00:00
move_nozzle_servo(active_extruder);
#endif
#if ENABLED(SWITCHING_EXTRUDER)
#if !(ENABLED(SWITCHING_NOZZLE) && (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR))
stepper.synchronize();
move_extruder_servo(active_extruder);
#endif
Fix feedrate after toolchange The fix is simple. Most changes are because of changed indendation, bacause of leaving early for wrong tool number
2016-04-26 22:57:45 +00:00
#endif
Moves all global enums to a central file
2016-07-19 13:31:09 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
/**
* Set current_position to the position of the new nozzle.
* Offsets are based on linear distance, so we need to get
* the resulting position in coordinate space.
*
* - With grid or 3-point leveling, offset XYZ by a tilted vector
* - With mesh leveling, update Z for the new position
* - Otherwise, just use the raw linear distance
*
* Software endstops are altered here too. Consider a case where:
* E0 at X=0 ... E1 at X=10
* When we switch to E1 now X=10, but E1 can't move left.
* To express this we apply the change in XY to the software endstops.
* E1 can move farther right than E0, so the right limit is extended.
*
* Note that we don't adjust the Z software endstops. Why not?
* Consider a case where Z=0 (here) and switching to E1 makes Z=1
* because the bed is 1mm lower at the new position. As long as
* the first nozzle is out of the way, the carriage should be
* allowed to move 1mm lower. This technically "breaks" the
* Z software endstop. But this is technically correct (and
* there is no viable alternative).
*/
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#if ABL_PLANAR
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
hotend_offset[Y_AXIS][tmp_extruder],
0),
act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
hotend_offset[Y_AXIS][active_extruder],
0),
offset_vec = tmp_offset_vec - act_offset_vec;
Add DEBUG_LEVELING output for gcode_T
2016-04-12 03:30:00 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
Modify debug methods to take PSTR
2017-05-02 21:46:11 +00:00
tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
act_offset_vec.debug(PSTR("act_offset_vec"));
offset_vec.debug(PSTR("offset_vec (BEFORE)"));
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
}
#endif
Additional patches for gcode_T position change
2016-07-04 01:06:54 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
A little extra gcode_T spacing
2016-04-28 02:35:55 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Modify debug methods to take PSTR
2017-05-02 21:46:11 +00:00
if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#endif
Additional patches for gcode_T position change
2016-07-04 01:06:54 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// Adjustments to the current position
Improved solution to tool-change bug
2017-03-17 02:25:19 +00:00
const float xydiff[2] = { offset_vec.x, offset_vec.y };
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
current_position[Z_AXIS] += offset_vec.z;
Fix position adjustment with gcode_T and MBL
2016-07-03 23:51:26 +00:00
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#else // !ABL_PLANAR
Moves all global enums to a central file
2016-07-19 13:31:09 +00:00
Improved solution to tool-change bug
2017-03-17 02:25:19 +00:00
const float xydiff[2] = {
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
};
A little extra gcode_T spacing
2016-04-28 02:35:55 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(MESH_BED_LEVELING)
A little extra gcode_T spacing
2016-04-28 02:35:55 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
if (mbl.active()) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
#endif
Use apply_leveling, not MBL directly
2016-12-05 07:53:36 +00:00
float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
z1 = current_position[Z_AXIS], z2 = z1;
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
planner.apply_leveling(x2, y2, z2);
current_position[Z_AXIS] += z2 - z1;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Log whether homing with probe or endstop
2016-08-26 20:42:16 +00:00
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#endif
}
Position adjustment for bed leveling
2016-06-11 19:59:44 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#endif // MESH_BED_LEVELING
Moves all global enums to a central file
2016-07-19 13:31:09 +00:00
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#endif // !HAS_ABL
Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe
2016-07-15 01:34:08 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
Fix some debug messages
2016-07-18 00:04:32 +00:00
SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
SERIAL_ECHOLNPGM(" }");
}
#endif
A little extra gcode_T spacing
2016-04-28 02:35:55 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// The newly-selected extruder XY is actually at...
current_position[X_AXIS] += xydiff[X_AXIS];
current_position[Y_AXIS] += xydiff[Y_AXIS];
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_POSITION_SHIFT
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
position_shift[i] += xydiff[i];
#endif
update_software_endstops((AxisEnum)i);
}
#endif
A little extra gcode_T spacing
2016-04-28 02:35:55 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// Set the new active extruder
active_extruder = tmp_extruder;
A little extra gcode_T spacing
2016-04-28 02:35:55 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#endif // !DUAL_X_CARRIAGE
A little extra gcode_T spacing
2016-04-28 02:35:55 +00:00
Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe
2016-07-15 01:34:08 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe
2016-07-15 01:34:08 +00:00
#endif
A little extra gcode_T spacing
2016-04-28 02:35:55 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// Tell the planner the new "current position"
SYNC_PLAN_POSITION_KINEMATIC();
Add DEBUG_LEVELING output for gcode_T
2016-04-12 03:30:00 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// Move to the "old position" (move the extruder into place)
if (!no_move && IsRunning()) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#endif
prepare_move_to_destination();
}
Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe
2016-07-15 01:34:08 +00:00
Separate SWITCHING_NOZZLE and SWITCHING_EXTRUDER
2017-05-12 19:09:40 +00:00
#if ENABLED(SWITCHING_NOZZLE)
Improved solution to tool-change bug
2017-03-17 02:25:19 +00:00
// Move back down, if needed. (Including when the new tool is higher.)
if (z_raise != z_diff) {
destination[Z_AXIS] += z_diff;
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];
prepare_move_to_destination();
}
#endif
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
} // (tmp_extruder != active_extruder)
Add DEBUG_LEVELING output for gcode_T
2016-04-12 03:30:00 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
stepper.synchronize();
Fix gcode_T
2016-06-16 07:05:36 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(EXT_SOLENOID)
disable_all_solenoids();
enable_solenoid_on_active_extruder();
#endif // EXT_SOLENOID
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
feedrate_mm_s = old_feedrate_mm_s;
Fix gcode_T
2016-06-16 07:05:36 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#else // HOTENDS <= 1
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
// Set the new active extruder
active_extruder = tmp_extruder;
Additional patches for gcode_T position change
2016-07-04 01:06:54 +00:00
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
UNUSED(fr_mm_s);
Fix minor gcc warning
2016-07-22 15:08:56 +00:00
UNUSED(no_move);
Separate SWITCHING_NOZZLE and SWITCHING_EXTRUDER
2017-05-12 19:09:40 +00:00
#if ENABLED(SWITCHING_EXTRUDER)
stepper.synchronize();
move_extruder_servo(active_extruder);
#endif
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#endif // HOTENDS <= 1
SERIAL_ECHO_START;
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
Patch #else / #endif comments
2017-05-09 17:35:43 +00:00
#endif // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Always switch to tool 0 for G28
2016-07-20 02:37:31 +00:00
/**
* T0-T3: Switch tool, usually switching extruders
*
* F[units/min] Set the movement feedrate
* S1 Don't move the tool in XY after change
*/
inline void gcode_T(uint8_t tmp_extruder) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
More detailed debugging of G28 delta
2016-10-02 06:48:17 +00:00
SERIAL_CHAR(')');
SERIAL_EOL;
Always switch to tool 0 for G28
2016-07-20 02:37:31 +00:00
DEBUG_POS("BEFORE", current_position);
}
#endif
#if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
tool_change(tmp_extruder);
#elif HOTENDS > 1
tool_change(
tmp_extruder,
Use code_value_linear_units for known-linear axes
2017-04-17 02:55:17 +00:00
code_seen('F') ? MMM_TO_MMS(code_value_linear_units()) : 0.0,
Always switch to tool 0 for G28
2016-07-20 02:37:31 +00:00
(tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
DEBUG_POS("AFTER", current_position);
SERIAL_ECHOLNPGM("<<< gcode_T");
}
#endif
}
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
/**
Pre-sanitize the command before handling - Use a global pointer for the current sanitized command - Pre-sanitize the current command to bypass `N` and nullify `*`, removing the need for handlers to bypass, ignore, or nullify these parts, and reducing overhead for `code_seen`, etc. - Pre-skip leading whitespace. - Only look for G, M, T codes at the start of the command. - Verify that G, M, T codes are followed by command codes.
2015-05-17 06:14:02 +00:00
* Process a single command and dispatch it to its handler
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
* This is called from the main loop()
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
*/
Rename preocess_command to process_next_command
2015-05-17 03:47:40 +00:00
void process_next_command() {
Pre-sanitize the command before handling - Use a global pointer for the current sanitized command - Pre-sanitize the current command to bypass `N` and nullify `*`, removing the need for handlers to bypass, ignore, or nullify these parts, and reducing overhead for `code_seen`, etc. - Pre-skip leading whitespace. - Only look for G, M, T codes at the start of the command. - Verify that G, M, T codes are followed by command codes.
2015-05-17 06:14:02 +00:00
current_command = command_queue[cmd_queue_index_r];
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
Add DEBUGGING macro
2016-03-30 02:50:01 +00:00
if (DEBUGGING(ECHO)) {
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
SERIAL_ECHO_START;
Pre-sanitize the command before handling - Use a global pointer for the current sanitized command - Pre-sanitize the current command to bypass `N` and nullify `*`, removing the need for handlers to bypass, ignore, or nullify these parts, and reducing overhead for `code_seen`, etc. - Pre-skip leading whitespace. - Only look for G, M, T codes at the start of the command. - Verify that G, M, T codes are followed by command codes.
2015-05-17 06:14:02 +00:00
SERIAL_ECHOLN(current_command);
Setup to find data corruption and general clean up This data corruption problem is very difficult. Just changing the code a little bit changes whether the problem even happens and what is affected. I need these changes in the main branch so I can operate with the extra debug code always available and turned on. Everything is setup such that if M100 is turned off or DEBUG(ECHO) is turned off, the code is not affected. M100 has been made a little bit more inteligent so it can display the serial command buffers in a more meaningful way (because the data corruption seems to often times end up in that area).
2017-04-16 00:14:40 +00:00
#if ENABLED(M100_FREE_MEMORY_WATCHER)
Cleanup after some direct commits https://github.com/MarlinFirmware/Marlin/commit/5e9726530ff21d3bc62beaa6 ac1b9437c276130a
2017-04-16 22:33:22 +00:00
SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
Eliminate M100 compiler warnings?
2017-05-08 04:35:04 +00:00
M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
Setup to find data corruption and general clean up This data corruption problem is very difficult. Just changing the code a little bit changes whether the problem even happens and what is affected. I need these changes in the main branch so I can operate with the extra debug code always available and turned on. Everything is setup such that if M100 is turned off or DEBUG(ECHO) is turned off, the code is not affected. M100 has been made a little bit more inteligent so it can display the serial command buffers in a more meaningful way (because the data corruption seems to often times end up in that area).
2017-04-16 00:14:40 +00:00
#endif
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
}
Pre-sanitize the command before handling - Use a global pointer for the current sanitized command - Pre-sanitize the current command to bypass `N` and nullify `*`, removing the need for handlers to bypass, ignore, or nullify these parts, and reducing overhead for `code_seen`, etc. - Pre-skip leading whitespace. - Only look for G, M, T codes at the start of the command. - Verify that G, M, T codes are followed by command codes.
2015-05-17 06:14:02 +00:00
// Sanitize the current command:
// - Skip leading spaces
Tweak comment in process_next_command
2016-02-10 02:16:35 +00:00
// - Bypass N[-0-9][0-9]*[ ]*
Pre-sanitize the command before handling - Use a global pointer for the current sanitized command - Pre-sanitize the current command to bypass `N` and nullify `*`, removing the need for handlers to bypass, ignore, or nullify these parts, and reducing overhead for `code_seen`, etc. - Pre-skip leading whitespace. - Only look for G, M, T codes at the start of the command. - Verify that G, M, T codes are followed by command codes.
2015-05-17 06:14:02 +00:00
// - Overwrite * with nul to mark the end
while (*current_command == ' ') ++current_command;
Add NUMERIC compare macros to simplify code
2016-03-28 10:52:49 +00:00
if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
Allow N to take a negative argument (PR@2402)
2015-07-09 00:30:39 +00:00
current_command += 2; // skip N[-0-9]
Add NUMERIC compare macros to simplify code
2016-03-28 10:52:49 +00:00
while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
Parse N[0-9]+[ ]* differently (PR #2263) More general solution to skip N[0-9]+[ ]* in the parser as in #2218
2015-06-08 21:38:28 +00:00
while (*current_command == ' ') ++current_command; // skip [ ]*
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
}
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
char* starpos = strchr(current_command, '*'); // * should always be the last parameter
Also nullify spaces before the checksum asterisk (PR#2409)
2015-07-09 22:02:16 +00:00
if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
Fix: current_command_args skips digits at the front Closes #3245
2016-03-25 22:20:31 +00:00
char *cmd_ptr = current_command;
Further optimization of command parser
2015-05-17 12:00:09 +00:00
// Get the command code, which must be G, M, or T
Fix: current_command_args skips digits at the front Closes #3245
2016-03-25 22:20:31 +00:00
char command_code = *cmd_ptr++;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Fix: current_command_args skips digits at the front Closes #3245
2016-03-25 22:20:31 +00:00
// Skip spaces to get the numeric part
while (*cmd_ptr == ' ') cmd_ptr++;
Fix GCode handling of spaces between command letter and first digit
2016-02-26 06:50:09 +00:00
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
// Allow for decimal point in command
Rename feature to G38_PROBE_TARGET
2016-09-29 20:06:01 +00:00
#if ENABLED(G38_PROBE_TARGET)
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
uint8_t subcode = 0;
#endif
Minor cleanup to command dispatcher
2016-03-28 10:53:09 +00:00
uint16_t codenum = 0; // define ahead of goto
Fix: current_command_args skips digits at the front Closes #3245
2016-03-25 22:20:31 +00:00
Minor cleanup to command dispatcher
2016-03-28 10:53:09 +00:00
// Bail early if there's no code
bool code_is_good = NUMERIC(*cmd_ptr);
if (!code_is_good) goto ExitUnknownCommand;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Fix: current_command_args skips digits at the front Closes #3245
2016-03-25 22:20:31 +00:00
// Get and skip the code number
Minor cleanup to command dispatcher
2016-03-28 10:53:09 +00:00
do {
codenum = (codenum * 10) + (*cmd_ptr - '0');
Fix: current_command_args skips digits at the front Closes #3245
2016-03-25 22:20:31 +00:00
cmd_ptr++;
Minor cleanup to command dispatcher
2016-03-28 10:53:09 +00:00
} while (NUMERIC(*cmd_ptr));
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
// Allow for decimal point in command
Rename feature to G38_PROBE_TARGET
2016-09-29 20:06:01 +00:00
#if ENABLED(G38_PROBE_TARGET)
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
if (*cmd_ptr == '.') {
cmd_ptr++;
while (NUMERIC(*cmd_ptr))
subcode = (subcode * 10) + (*cmd_ptr++ - '0');
}
#endif
Minor cleanup to command dispatcher
2016-03-28 10:53:09 +00:00
// Skip all spaces to get to the first argument, or nul
Fix: current_command_args skips digits at the front Closes #3245
2016-03-25 22:20:31 +00:00
while (*cmd_ptr == ' ') cmd_ptr++;
Simplify & optimize with current_command_args
2015-05-17 23:58:37 +00:00
Minor cleanup to command dispatcher
2016-03-28 10:53:09 +00:00
// The command's arguments (if any) start here, for sure!
Fix: current_command_args skips digits at the front Closes #3245
2016-03-25 22:20:31 +00:00
current_command_args = cmd_ptr;
More parser comments, optimize code_seen, save with goto
2015-05-17 12:42:04 +00:00
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
KEEPALIVE_STATE(IN_HANDLER);
More parser comments, optimize code_seen, save with goto
2015-05-17 12:42:04 +00:00
// Handle a known G, M, or T
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
switch (command_code) {
Further optimization of command parser
2015-05-17 12:00:09 +00:00
case 'G': switch (codenum) {
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Indent G0/G1
2015-05-23 00:31:24 +00:00
// G0, G1
case 0:
case 1:
G0 direct move for SCARA
2016-09-15 19:15:08 +00:00
#if IS_SCARA
gcode_G0_G1(codenum == 0);
#else
gcode_G0_G1();
#endif
Indent G0/G1
2015-05-23 00:31:24 +00:00
break;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Indent G2/G3
2015-05-23 00:31:38 +00:00
// G2, G3
Idle during long arcs Idle during long arcs to prevent from watchdog resets during high segmented fast arcs.
2016-05-13 22:29:13 +00:00
#if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
Indent G2/G3
2015-05-23 00:31:38 +00:00
case 2: // G2 - CW ARC
case 3: // G3 - CCW ARC
gcode_G2_G3(codenum == 2);
break;
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Indent G4, G10/G11, G28
2015-05-23 00:32:27 +00:00
// G4 Dwell
case 4:
gcode_G4();
break;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Add BEZIER_CURVE_SUPPORT (G5 XYZEFIJPQ)
2016-05-12 20:33:47 +00:00
#if ENABLED(BEZIER_CURVE_SUPPORT)
// G5
case 5: // G5 - Cubic B_spline
gcode_G5();
break;
#endif // BEZIER_CURVE_SUPPORT
Add `G7` gcode command to move between UBL mesh points - can be augmented in the future to enable for other leveling systems Quite simple, but did not want to modify `G1` as the additional checking would slow it down. Tested & working.
2017-05-17 23:03:00 +00:00
#if ENABLED(AUTO_BED_LEVELING_UBL)
case 7:
#if IS_SCARA
gcode_G7(codenum == 0);
#else
gcode_G7();
#endif
break;
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(FWRETRACT)
Indent G4, G10/G11, G28
2015-05-23 00:32:27 +00:00
case 10: // G10: retract
case 11: // G11: retract_recover
gcode_G10_G11(codenum == 10);
break;
Add BEZIER_CURVE_SUPPORT (G5 XYZEFIJPQ)
2016-05-12 20:33:47 +00:00
#endif // FWRETRACT
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Nozzle::clean() no longer requires HAS_BED_PROBE
2016-07-19 00:56:14 +00:00
#if ENABLED(NOZZLE_CLEAN_FEATURE)
Implements a nozzle cleaning pattern generator (G12)
2016-06-16 04:18:44 +00:00
case 12:
Implements a nozzle parking command (G27)
2016-07-14 15:29:04 +00:00
gcode_G12(); // G12: Nozzle Clean
Implements a nozzle cleaning pattern generator (G12)
2016-06-16 04:18:44 +00:00
break;
Minor G12 tweaks and point_t struct extension
2016-07-13 23:07:36 +00:00
#endif // NOZZLE_CLEAN_FEATURE
Implements a nozzle cleaning pattern generator (G12)
2016-06-16 04:18:44 +00:00
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
#if ENABLED(INCH_MODE_SUPPORT)
case 20: //G20: Inch Mode
gcode_G20();
break;
case 21: //G21: MM Mode
gcode_G21();
break;
Implements a nozzle cleaning pattern generator (G12)
2016-06-16 04:18:44 +00:00
#endif // INCH_MODE_SUPPORT
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
Update Configuration.h files to better names (#6814) Changed UBL_G26_MESH_EDITING to UBL_G26_MESH_VALIDATION Added UBL_MESH_EDIT_MOVES_Z to prepare for that change (coming next)
2017-05-21 16:10:22 +00:00
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
UBL implementation
2017-03-18 15:15:54 +00:00
case 26: // G26: Mesh Validation Pattern generation
gcode_G26();
break;
#endif // AUTO_BED_LEVELING_UBL
Implements a nozzle parking command (G27)
2016-07-14 15:29:04 +00:00
#if ENABLED(NOZZLE_PARK_FEATURE)
case 27: // G27: Nozzle Park
gcode_G27();
break;
#endif // NOZZLE_PARK_FEATURE
Indent G4, G10/G11, G28
2015-05-23 00:32:27 +00:00
case 28: // G28: Home all axes, one at a time
Patch home_all_axes to ignore G28 XYZ parameters
2017-05-16 21:18:38 +00:00
gcode_G28(false);
Indent G4, G10/G11, G28
2015-05-23 00:32:27 +00:00
break;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Adjust leveling conditionals
2017-05-01 21:13:09 +00:00
#if HAS_LEVELING
UBL implementation
2017-03-18 15:15:54 +00:00
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
// or provides access to the UBL System if enabled.
Indent G29
2015-05-23 00:32:46 +00:00
gcode_G29();
break;
Adjust leveling conditionals
2017-05-01 21:13:09 +00:00
#endif // HAS_LEVELING
Added G29 command
2015-03-21 13:50:47 +00:00
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
#if HAS_BED_PROBE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
case 30: // G30 Single Z probe
gcode_G30();
break;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
#if ENABLED(Z_PROBE_SLED)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Indent G30, G31/G32
2015-05-23 00:33:17 +00:00
case 31: // G31: dock the sled
Regular handlers for G31 / G32
2016-06-24 00:04:13 +00:00
gcode_G31();
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
break;
Regular handlers for G31 / G32
2016-06-24 00:04:13 +00:00
Indent G30, G31/G32
2015-05-23 00:33:17 +00:00
case 32: // G32: undock the sled
Regular handlers for G31 / G32
2016-06-24 00:04:13 +00:00
gcode_G32();
Indent G30, G31/G32
2015-05-23 00:33:17 +00:00
break;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Indent G30, G31/G32
2015-05-23 00:33:17 +00:00
#endif // Z_PROBE_SLED
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
#if ENABLED(DELTA_AUTO_CALIBRATION)
Various cleanups of G33 - update comment section - redefined P5 grid - minor clean to probe radius routine - updated EEPROM version to V37 according remark in #6517
2017-05-01 12:05:59 +00:00
case 33: // G33: Delta Auto-Calibration
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
gcode_G33();
break;
#endif // DELTA_AUTO_CALIBRATION
Always use deploy/stow for dock_sled
2016-06-20 22:50:51 +00:00
#endif // HAS_BED_PROBE
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Rename feature to G38_PROBE_TARGET
2016-09-29 20:06:01 +00:00
#if ENABLED(G38_PROBE_TARGET)
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
case 38: // G38.2 & G38.3
if (subcode == 2 || subcode == 3)
gcode_G38(subcode == 2);
code changes to implement G38 commands 1) modified 3 code files Marlin.h Marlin_main.cpp endstops.cpp 2) modified config files so I could test on my machine Testing was done on an AzteegX3pro based machine. The probe was hooked to the Z_MIN endstop. My controller doesn't have a dedicated Z_PROBE input so I couldn't test that functionality. Verified that a large file (without any G38 commands) executed the same before and after the changes. Verified that the head moves as expected when G38.2 and G38.3 commands are issued. Single & multiple axis moves were tested along with + and - directions. Code was added to the main ISR. In normal operation only one extra IF statement is evaluated. I didn't notice any performance degradation because of the added code. The G38 commands are expected to be issued manually by the operator during machine setup. The G38 commands wait until the machine is idle before proceeding. That way the other commands are minimally impacted by the extra ISR overhead when a G38 command is in the queue. The G38 commands are very similar to the G28 commands except 1) only the Z_PROBE is used and movement can be in the + or - direction. See issue 4677 for a discussion on adding G38 commands to Marlin. Feature request: add ability to use G38.2 command (CNC) MarlinFirmware/Marlin#4677
2016-09-19 19:17:10 +00:00
break;
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
#endif
Indent G90/G91, G92
2015-05-23 00:34:08 +00:00
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Indent G90/G91, G92
2015-05-23 00:34:08 +00:00
case 92: // G92
gcode_G92();
break;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Further optimization of command parser
2015-05-17 12:00:09 +00:00
break;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Further optimization of command parser
2015-05-17 12:00:09 +00:00
case 'M': switch (codenum) {
Add HAS_RESUME_CONTINUE shorthand macro
2017-04-09 16:12:08 +00:00
#if HAS_RESUME_CONTINUE
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 0: // M0: Unconditional stop - Wait for user button press on LCD
case 1: // M1: Conditional stop - Wait for user button press on LCD
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M0_M1();
break;
#endif // ULTIPANEL
SPINDLE/LASER implementation
2017-04-07 18:52:45 +00:00
#if ENABLED(SPINDLE_LASER_ENABLE)
case 3:
gcode_M3_M4(true); // M3: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CW
break; // synchronizes with movement commands
case 4:
gcode_M3_M4(false); // M4: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CCW
break; // synchronizes with movement commands
case 5:
gcode_M5(); // M5 - turn spindle/laser off
break; // synchronizes with movement commands
#endif
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 17: // M17: Enable all stepper motors
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M17();
break;
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(SDSUPPORT)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 20: // M20: list SD card
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M20(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 21: // M21: init SD card
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M21(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 22: // M22: release SD card
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M22(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 23: // M23: Select file
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M23(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 24: // M24: Start SD print
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M24(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 25: // M25: Pause SD print
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M25(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 26: // M26: Set SD index
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M26(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 27: // M27: Get SD status
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M27(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 28: // M28: Start SD write
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M28(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 29: // M29: Stop SD write
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M29(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 30: // M30 <filename> Delete File
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M30(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 32: // M32: Select file and start SD print
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M32(); break;
M33 LONG_FILENAME_HOST_SUPPORT
2015-05-18 00:36:32 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(LONG_FILENAME_HOST_SUPPORT)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 33: // M33: Get the long full path to a file or folder
M33 LONG_FILENAME_HOST_SUPPORT
2015-05-18 00:36:32 +00:00
gcode_M33(); break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
#endif
M33 LONG_FILENAME_HOST_SUPPORT
2015-05-18 00:36:32 +00:00
New feature: SDCARD_SORT_ALPHA
2017-02-09 13:02:25 +00:00
#if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
case 34: //M34 - Set SD card sorting options
gcode_M34(); break;
#endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 928: // M928: Start SD write
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M928(); break;
Patch #else / #endif comments
2017-05-09 17:35:43 +00:00
#endif // SDSUPPORT
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 31: // M31: Report time since the start of SD print or last M109
gcode_M31(); break;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
PINS_DEBUGGING and M43 Read Pins
2016-10-05 10:50:22 +00:00
case 42: // M42: Change pin state
gcode_M42(); break;
#if ENABLED(PINS_DEBUGGING)
case 43: // M43: Read pin state
gcode_M43(); break;
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
UBL implementation
2017-03-18 15:15:54 +00:00
Allow Z_MIN_PROBE_REPEATABILITY_TEST solo
2016-06-21 08:28:36 +00:00
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 48: // M48: Z probe repeatability test
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M48();
break;
Allow Z_MIN_PROBE_REPEATABILITY_TEST solo
2016-06-21 08:28:36 +00:00
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Update Configuration.h files to better names (#6814) Changed UBL_G26_MESH_EDITING to UBL_G26_MESH_VALIDATION Added UBL_MESH_EDIT_MOVES_Z to prepare for that change (coming next)
2017-05-21 16:10:22 +00:00
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
Further repairs to UBL, comments, spacing
2017-03-31 02:32:50 +00:00
case 49: // M49: Turn on or off G26 debug flag for verbose output
Patches to bring UBL closer to compliance
2017-03-24 05:53:37 +00:00
gcode_M49();
UBL implementation
2017-03-18 15:15:54 +00:00
break;
Update Configuration.h files to better names (#6814) Changed UBL_G26_MESH_EDITING to UBL_G26_MESH_VALIDATION Added UBL_MESH_EDIT_MOVES_Z to prepare for that change (coming next)
2017-05-21 16:10:22 +00:00
#endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION
UBL implementation
2017-03-18 15:15:54 +00:00
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 75: // M75: Start print timer
gcode_M75(); break;
case 76: // M76: Pause print timer
gcode_M76(); break;
case 77: // M77: Stop print timer
gcode_M77(); break;
Implemented M75, M76, M77 to control the print timer
2016-04-06 03:38:42 +00:00
Added new G-Code: M78
2016-04-27 01:13:27 +00:00
#if ENABLED(PRINTCOUNTER)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 78: // M78: Show print statistics
gcode_M78(); break;
Added new G-Code: M78
2016-04-27 01:13:27 +00:00
#endif
Apply remaining ENABLED/DISABLED conditionals
2015-08-03 19:30:37 +00:00
#if ENABLED(M100_FREE_MEMORY_WATCHER)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 100: // M100: Free Memory Report
Rename as M100
2015-07-18 23:59:12 +00:00
gcode_M100();
Memory watcher
2015-07-06 00:42:13 +00:00
break;
#endif
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 104: // M104: Set hot end temperature
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M104();
break;
M110 ang M29 rework Add 'ok' output for G29 actually closing the file. Handle M110 when received without linenumber/checksumm.
2016-03-07 21:27:01 +00:00
case 110: // M110: Set Current Line Number
gcode_M110();
break;
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
case 111: // M111: Set debug level
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
gcode_M111();
break;
Add an emergency-command parser to MarlinSerial (supporting M108) Add an emergency-command parser to MarlinSerial's RX interrupt. The parser tries to find and execute M108,M112,M410 before the commands disappear in the RX-buffer. To avoid false positives for M117, comments and commands followed by filenames (M23, M28, M30, M32, M33) are filtered. This enables Marlin to receive and react on the Emergency command at all times - regardless of whether the buffers are full or not. It remains to convince hosts to send the commands. To inform the hosts about the new feature a new entry in the M115-report was made. "`EMERGENCY_CODES:M112,M108,M410;`". The parser is fast. It only ever needs two switch decisions and one assignment of the new state for every character. One problem remains. If the host has sent an incomplete line before sending an emergency command the emergency command could be omitted when the parser is in `state_IGNORE`. In that case the host should send "\ncommand\n" Also introduces M108 to break the waiting for the heaters in M109, M190 and M303. Rename `cancel_heatup` to `wait_for_heatup` to better see the purpose.
2016-07-04 21:23:22 +00:00
#if DISABLED(EMERGENCY_PARSER)
Group EMERGENCY_PARSER commands
2016-07-06 18:52:36 +00:00
case 108: // M108: Cancel Waiting
gcode_M108();
break;
Add an emergency-command parser to MarlinSerial (supporting M108) Add an emergency-command parser to MarlinSerial's RX interrupt. The parser tries to find and execute M108,M112,M410 before the commands disappear in the RX-buffer. To avoid false positives for M117, comments and commands followed by filenames (M23, M28, M30, M32, M33) are filtered. This enables Marlin to receive and react on the Emergency command at all times - regardless of whether the buffers are full or not. It remains to convince hosts to send the commands. To inform the hosts about the new feature a new entry in the M115-report was made. "`EMERGENCY_CODES:M112,M108,M410;`". The parser is fast. It only ever needs two switch decisions and one assignment of the new state for every character. One problem remains. If the host has sent an incomplete line before sending an emergency command the emergency command could be omitted when the parser is in `state_IGNORE`. In that case the host should send "\ncommand\n" Also introduces M108 to break the waiting for the heaters in M109, M190 and M303. Rename `cancel_heatup` to `wait_for_heatup` to better see the purpose.
2016-07-04 21:23:22 +00:00
case 112: // M112: Emergency Stop
gcode_M112();
break;
Group EMERGENCY_PARSER commands
2016-07-06 18:52:36 +00:00
case 410: // M410 quickstop - Abort all the planned moves.
gcode_M410();
break;
Add an emergency-command parser to MarlinSerial (supporting M108) Add an emergency-command parser to MarlinSerial's RX interrupt. The parser tries to find and execute M108,M112,M410 before the commands disappear in the RX-buffer. To avoid false positives for M117, comments and commands followed by filenames (M23, M28, M30, M32, M33) are filtered. This enables Marlin to receive and react on the Emergency command at all times - regardless of whether the buffers are full or not. It remains to convince hosts to send the commands. To inform the hosts about the new feature a new entry in the M115-report was made. "`EMERGENCY_CODES:M112,M108,M410;`". The parser is fast. It only ever needs two switch decisions and one assignment of the new state for every character. One problem remains. If the host has sent an incomplete line before sending an emergency command the emergency command could be omitted when the parser is in `state_IGNORE`. In that case the host should send "\ncommand\n" Also introduces M108 to break the waiting for the heaters in M109, M190 and M303. Rename `cancel_heatup` to `wait_for_heatup` to better see the purpose.
2016-07-04 21:23:22 +00:00
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Add a case for M113 to process_next_command
2016-04-11 01:53:03 +00:00
#if ENABLED(HOST_KEEPALIVE_FEATURE)
case 113: // M113: Set Host Keepalive interval
gcode_M113();
break;
#endif
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 140: // M140: Set bed temperature
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M140();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 105: // M105: Report current temperature
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M105();
Fix KEEPALIVE_STATE Add return to NOT_BUSY for M105 Replace WAIT_FOR_USER with PAUSED_FOR_USER Add Travis test for FILAMENTCHANGEENABLE
2016-03-20 09:40:26 +00:00
KEEPALIVE_STATE(NOT_BUSY);
Further optimization of command parser
2015-05-17 12:00:09 +00:00
return; // "ok" already printed
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Add M155 - Auto-report temperature with interval
2016-11-09 00:03:40 +00:00
#if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
case 155: // M155: Set temperature auto-report interval
gcode_M155();
break;
#endif
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 109: // M109: Wait for hotend temperature to reach target
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M109();
break;
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_TEMP_BED
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 190: // M190: Wait for bed temperature to reach target
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M190();
break;
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#endif // HAS_TEMP_BED
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
#if FAN_COUNT > 0
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
case 106: // M106: Fan On
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M106();
break;
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
case 107: // M107: Fan Off
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M107();
break;
Support for multiple PWM fans
2016-03-06 02:27:45 +00:00
#endif // FAN_COUNT > 0
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
PARK_HEAD_ON_PAUSE implementation
2017-03-19 09:26:22 +00:00
#if ENABLED(PARK_HEAD_ON_PAUSE)
case 125: // M125: Store current position and move to filament change position
gcode_M125(); break;
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(BARICUDA)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
// PWM for HEATER_1_PIN
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_HEATER_1
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
case 126: // M126: valve open
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M126();
break;
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
case 127: // M127: valve closed
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M127();
break;
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#endif // HAS_HEATER_1
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
// PWM for HEATER_2_PIN
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_HEATER_2
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
case 128: // M128: valve open
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M128();
break;
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
case 129: // M129: valve closed
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M129();
break;
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#endif // HAS_HEATER_2
#endif // BARICUDA
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
Conditionals and comments for PS = 0
2015-03-30 23:50:05 +00:00
#if HAS_POWER_SWITCH
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
case 80: // M80: Turn on Power Supply
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M80();
break;
Conditionals and comments for PS = 0
2015-03-30 23:50:05 +00:00
#endif // HAS_POWER_SWITCH
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
M111 - Debug Level - Add `M111` as a standard option to set the debug level - Implement `DEBUG_ECHO` in `process_commands` - Other debug levels (e.g., `DEBUG_DRYRUN`) need more work
2015-04-27 03:08:45 +00:00
case 81: // M81: Turn off Power, including Power Supply, if possible
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M81();
break;
"M80 S" to report the state of the PSU pin
2017-05-10 16:07:58 +00:00
case 82: // M82: Set E axis normal mode (same as other axes)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M82();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 83: // M83: Set E axis relative mode
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M83();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 18: // M18 => M84
case 84: // M84: Disable all steppers or set timeout
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M18_M84();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 85: // M85: Set inactivity stepper shutdown timeout
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M85();
break;
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
case 92: // M92: Set the steps-per-unit for one or more axes
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M92();
break;
Reorder M114 and M119 gcode cases
2016-11-07 21:52:42 +00:00
case 114: // M114: Report current position
gcode_M114();
break;
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
case 115: // M115: Report capabilities
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M115();
break;
Further optimization of command parser
2015-05-17 12:00:09 +00:00
case 117: // M117: Set LCD message text, if possible
gcode_M117();
break;
Reorder M114 and M119 gcode cases
2016-11-07 21:52:42 +00:00
case 119: // M119: Report endstop states
gcode_M119();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
break;
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
case 120: // M120: Enable endstops
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M120();
break;
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
case 121: // M121: Disable endstops
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M121();
break;
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(ULTIPANEL)
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
case 145: // M145: Set material heatup parameters
gcode_M145();
break;
#endif
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 149: // M149: Set temperature units
G20/21 and M149 support, and code_value() refactor This is an update of MarlinDev PR #196. G20/21: support for switching input units between millimeters and inches. M149: support for changing input temperature units. In support of these changes, code_value() and code_value_short() are replaced with an array of functions which handle converting to the proper types and/or units.
2016-05-31 15:26:08 +00:00
gcode_M149();
break;
#endif
Extend RGB LED support, adding Printer Events
2017-04-04 21:26:30 +00:00
#if HAS_COLOR_LEDS
Real-time filament diameter measurement and control This feature allows the printer to read the filament diameter automatically and adjust the printer in real time. Added code to read an analog voltage that represents a filament diameter measurement. This measurement is delayed in a ring buffer to compensate for sensors that are a distance away from the extruder. The measurement is used to adjust the volumetric_multiplier for the extruder. Some additional g codes (M404, M405, M406, M407) are used to set parameters and turn on/off the control. g code M221 is updated. Pins for RAMPS1.4, RAMBO, and Printrboard are identified for analog input. The configuration file is updated with relevant user parameters.
2014-08-07 00:30:57 +00:00
Support for an RGB LED using 3 pins
2016-11-30 01:51:13 +00:00
case 150: // M150: Set Status LED Color
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M150();
break;
Real-time filament diameter measurement and control This feature allows the printer to read the filament diameter automatically and adjust the printer in real time. Added code to read an analog voltage that represents a filament diameter measurement. This measurement is delayed in a ring buffer to compensate for sensors that are a distance away from the extruder. The measurement is used to adjust the volumetric_multiplier for the extruder. Some additional g codes (M404, M405, M406, M407) are used to set parameters and turn on/off the control. g code M221 is updated. Pins for RAMPS1.4, RAMBO, and Printrboard are identified for analog input. The configuration file is updated with relevant user parameters.
2014-08-07 00:30:57 +00:00
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
#endif // BLINKM
Real-time filament diameter measurement and control This feature allows the printer to read the filament diameter automatically and adjust the printer in real time. Added code to read an analog voltage that represents a filament diameter measurement. This measurement is delayed in a ring buffer to compensate for sensors that are a distance away from the extruder. The measurement is used to adjust the volumetric_multiplier for the extruder. Some additional g codes (M404, M405, M406, M407) are used to set parameters and turn on/off the control. g code M221 is updated. Pins for RAMPS1.4, RAMBO, and Printrboard are identified for analog input. The configuration file is updated with relevant user parameters.
2014-08-07 00:30:57 +00:00
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(MIXING_EXTRUDER)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 163: // M163: Set a component weight for mixing extruder
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
gcode_M163();
break;
#if MIXING_VIRTUAL_TOOLS > 1
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 164: // M164: Save current mix as a virtual extruder
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
gcode_M164();
break;
#endif
#if ENABLED(DIRECT_MIXING_IN_G1)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 165: // M165: Set multiple mix weights
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
gcode_M165();
break;
#endif
#endif
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 200: // M200: Set filament diameter, E to cubic units
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M200();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 201: // M201: Set max acceleration for print moves (units/s^2)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M201();
break;
#if 0 // Not used for Sprinter/grbl gen6
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
case 202: // M202
gcode_M202();
break;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
#endif
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 203: // M203: Set max feedrate (units/sec)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M203();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 204: // M204: Set acceleration
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M204();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 205: //M205: Set advanced settings
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M205();
break;
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_M206_COMMAND
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
case 206: // M206: Set home offsets
gcode_M206();
break;
#endif
Adjustable Z probe offset, via custom M-code
2014-02-19 22:59:10 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DELTA)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 665: // M665: Set delta configurations
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M665();
break;
Cleanup case for M666
2015-03-30 02:39:43 +00:00
#endif
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 666: // M666: Set delta or dual endstop adjustment
New Feature: Z_DUAL_ENDSTOPS Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper. That way the machine is capable to align the bed during home, since both Z steppers are homed. There is also an implementation of M666 (software endstops adjustment) to this feature. After Z homing, this adjustment is applied to just one of the steppers in order to align the bed. One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2. If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive. Play a little bit with small adjustments (0.5mm) and check the behaviour. The M119 (endstops report) will start reporting the Z2 Endstop as well.
2015-03-24 17:06:44 +00:00
gcode_M666();
break;
Cleanup case for M666
2015-03-30 02:39:43 +00:00
#endif
Adjustable Z probe offset, via custom M-code
2014-02-19 22:59:10 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(FWRETRACT)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 207: // M207: Set Retract Length, Feedrate, and Z lift
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M207();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M208();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 209: // M209: Turn Automatic Retract Detection on/off
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M209();
break;
#endif // FWRETRACT
Apply fix for M600 filament change - Patch from #1453 for delta movement plan - Fix: Set X with code X instead of adding to X
2015-02-03 17:57:16 +00:00
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 211: // M211: Enable, Disable, and/or Report software endstops
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
gcode_M211();
break;
SINGLENOZZLE: EXTRUDERS versus HOTENDS
2016-05-27 00:43:20 +00:00
#if HOTENDS > 1
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 218: // M218: Set a tool offset
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M218();
break;
#endif
Apply fix for M600 filament change - Patch from #1453 for delta movement plan - Fix: Set X with code X instead of adding to X
2015-02-03 17:57:16 +00:00
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 220: // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M220();
break;
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 221: // M221: Set Flow Percentage
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M221();
break;
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 226: // M226: Wait until a pin reaches a state
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M226();
break;
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if HAS_SERVOS
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 280: // M280: Set servo position absolute
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M280();
break;
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#endif // HAS_SERVOS
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Rework buzzing (PR#2296) by: Moving HAS_LCD_BUZZ macro to Coditionals.h Renaming HAS_LCD_BUZZ to HAS_BUZZER to make clear is has nothing to do with the lcd. Removing the ULTRALCD condition. Moving declaration of lcd_buzz() out of the ULTRA_LCD block in ultralcd.h Moving definition of lcd_buzz() out of the ULTIPANEL block in ultralcd.cpp Renaming lcd_buzz() to buzz() to make clear is has nothing to do with the lcd. All buzzing code is now only dependent on the existence of a BEEPER-pin or the definition of a LCD_USE_I2C_BUZZER. To do: Check the conditions for the BEEPER-pin in all pin-files.
2015-06-14 22:12:02 +00:00
#if HAS_BUZZER
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 300: // M300: Play beep tone
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M300();
break;
Rework buzzing (PR#2296) by: Moving HAS_LCD_BUZZ macro to Coditionals.h Renaming HAS_LCD_BUZZ to HAS_BUZZER to make clear is has nothing to do with the lcd. Removing the ULTRALCD condition. Moving declaration of lcd_buzz() out of the ULTRA_LCD block in ultralcd.h Moving definition of lcd_buzz() out of the ULTIPANEL block in ultralcd.cpp Renaming lcd_buzz() to buzz() to make clear is has nothing to do with the lcd. All buzzing code is now only dependent on the existence of a BEEPER-pin or the definition of a LCD_USE_I2C_BUZZER. To do: Check the conditions for the BEEPER-pin in all pin-files.
2015-06-14 22:12:02 +00:00
#endif // HAS_BUZZER
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(PIDTEMP)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 301: // M301: Set hotend PID parameters
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M301();
break;
#endif // PIDTEMP
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(PIDTEMPBED)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 304: // M304: Set bed PID parameters
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M304();
break;
#endif // PIDTEMPBED
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if defined(CHDK) || HAS_PHOTOGRAPH
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M240();
break;
#endif // CHDK || PHOTOGRAPH_PIN
Apply fix for M600 filament change - Patch from #1453 for delta movement plan - Fix: Set X with code X instead of adding to X
2015-02-03 17:57:16 +00:00
Make HAS_LCD_CONTRAST a boolean flag
2016-05-31 18:47:02 +00:00
#if HAS_LCD_CONTRAST
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 250: // M250: Set LCD contrast
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M250();
break;
Aplied HAS_LCD_CONTRAST also to Marlin_main.cpp and cleaned typo.
2015-04-08 11:26:29 +00:00
#endif // HAS_LCD_CONTRAST
Apply fix for M600 filament change - Patch from #1453 for delta movement plan - Fix: Set X with code X instead of adding to X
2015-02-03 17:57:16 +00:00
M155=>M260, M156=>M261
2016-11-08 22:28:42 +00:00
#if ENABLED(EXPERIMENTAL_I2CBUS)
case 260: // M260: Send data to an i2c slave
gcode_M260();
break;
case 261: // M261: Request data from an i2c slave
gcode_M261();
break;
#endif // EXPERIMENTAL_I2CBUS
PREVENT_DANGEROUS_EXTRUDE => PREVENT_COLD_EXTRUSION Also improve the documentation of this and related options, and set EXTRUDE_MINTEMP to 170 everywhere.
2016-08-21 04:34:24 +00:00
#if ENABLED(PREVENT_COLD_EXTRUSION)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M302();
break;
PREVENT_DANGEROUS_EXTRUDE => PREVENT_COLD_EXTRUSION Also improve the documentation of this and related options, and set EXTRUDE_MINTEMP to 170 everywhere.
2016-08-21 04:34:24 +00:00
#endif // PREVENT_COLD_EXTRUSION
Reset Alert message when finish M600 command
2015-02-18 20:33:38 +00:00
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 303: // M303: PID autotune
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M303();
break;
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
#if ENABLED(MORGAN_SCARA)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 360: // M360: SCARA Theta pos1
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (gcode_M360()) return;
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 361: // M361: SCARA Theta pos2
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (gcode_M361()) return;
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 362: // M362: SCARA Psi pos1
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (gcode_M362()) return;
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 363: // M363: SCARA Psi pos2
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (gcode_M363()) return;
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 364: // M364: SCARA Psi pos3 (90 deg to Theta)
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
if (gcode_M364()) return;
break;
#endif // SCARA
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 400: // M400: Finish all moves
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M400();
break;
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
Make M401/M402 available with HAS_BED_PROBE
2016-06-21 22:04:09 +00:00
#if HAS_BED_PROBE
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 401: // M401: Deploy probe
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M401();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 402: // M402: Stow probe
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M402();
break;
Make M401/M402 available with HAS_BED_PROBE
2016-06-21 22:04:09 +00:00
#endif // HAS_BED_PROBE
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
FILAMENT_SENSOR -> FILAMENT_WIDTH_SENSOR
2016-03-30 03:28:23 +00:00
#if ENABLED(FILAMENT_WIDTH_SENSOR)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 404: // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M404();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 405: // M405: Turn on filament sensor for control
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M405();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 406: // M406: Turn off filament sensor for control
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M406();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 407: // M407: Display measured filament diameter
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M407();
break;
Cosmetic patches
2017-04-26 07:43:11 +00:00
#endif // FILAMENT_WIDTH_SENSOR
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Adjust leveling conditionals
2017-05-01 21:13:09 +00:00
#if HAS_LEVELING
Fix Command M420
2016-10-28 18:53:48 +00:00
case 420: // M420: Enable/Disable Bed Leveling
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
gcode_M420();
break;
Fix Command M420
2016-10-28 18:53:48 +00:00
#endif
Fix M421 AUTO_BED_LEVELING_BILINEAR and AUTO_BED_LEVELING_UBL M421 was not connected up for AUTO_BED_LEVELING_BILINEAR. M421 needed to migrate mesh data to new UBL EEPROM layout.
2017-04-02 21:13:15 +00:00
#if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_BILINEAR)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 421: // M421: Set a Mesh Bed Leveling Z coordinate
Make EEPROM reproducible in GCode With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
2015-04-27 01:44:01 +00:00
gcode_M421();
break;
#endif
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_M206_COMMAND
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
case 428: // M428: Apply current_position to home_offset
gcode_M428();
break;
#endif
Add M428 to set home_offset logically
2015-04-30 01:26:16 +00:00
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 500: // M500: Store settings in EEPROM
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M500();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 501: // M501: Read settings from EEPROM
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M501();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 502: // M502: Revert to default settings
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M502();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 503: // M503: print settings currently in memory
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M503();
break;
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
Comment M540
2016-11-22 00:08:00 +00:00
case 540: // M540: Set abort on endstop hit for SD printing
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M540();
Merge remote-tracking branch 'tonokip/Marlin_v1' into Marlin_v1 Conflicts: Marlin/Configuration.h
2012-11-21 19:36:30 +00:00
break;
#endif
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Fix M851 Minor change missing in the process of standardize the gcode M851
2016-06-18 20:58:42 +00:00
#if HAS_BED_PROBE
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 851: // M851: Set Z Probe Z Offset
Make M851 standard with a bed probe
2016-06-15 01:05:20 +00:00
gcode_M851();
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
break;
Fix M851 Minor change missing in the process of standardize the gcode M851
2016-06-18 20:58:42 +00:00
#endif // HAS_BED_PROBE
Add Azteeg X3 Pro as motherboard 68 Add digipot i2c control for MCP4451 Allow M907 to set i2c digipot currents in amps Fix Makefile to allow Azteeg motherboards Fix Makefile to allow Wire libraries only Add beeper pin for Azteeg X3 Pro
2014-02-05 09:47:12 +00:00
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
#if ENABLED(FILAMENT_CHANGE_FEATURE)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 600: // M600: Pause for filament change
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M600();
break;
Rewritten FILAMENT_CHANGE_ENABLE feature
2016-04-28 16:57:21 +00:00
#endif // FILAMENT_CHANGE_FEATURE
Support dual x-carriage printers Dual x-carriage designs offer some substantial improvements for dual extruder printing.
2013-07-17 12:44:45 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 605: // M605: Set Dual X Carriage movement mode
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M605();
break;
#endif // DUAL_X_CARRIAGE
Fixes misc gcc warnings
2016-06-16 18:24:11 +00:00
Add LIN_ADVANCE
2016-05-04 16:53:17 +00:00
#if ENABLED(LIN_ADVANCE)
Replace M905 with unique code M900
2017-04-17 05:27:49 +00:00
case 900: // M900: Set advance K factor.
gcode_M900();
Add LIN_ADVANCE
2016-05-04 16:53:17 +00:00
break;
#endif
Support dual x-carriage printers Dual x-carriage designs offer some substantial improvements for dual extruder printing.
2013-07-17 12:44:45 +00:00
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#if ENABLED(HAVE_TMC2130)
case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
gcode_M906();
break;
#endif
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 907: // M907: Set digital trimpot motor current using axis codes.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M907();
break;
fix bug for dual extruders not working some guy find that marlin not working good for dual extruders delta . when type T0 or T1 to active extruder and E0 or E1 move causing XYZ motion . so i locales the bugs and fix it , I have dry run the fix.
2014-04-01 01:26:19 +00:00
Add M907-M910 g-codes support for Printrbot Rev. F
2016-03-20 01:19:41 +00:00
#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 908: // M908: Control digital trimpot directly.
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
gcode_M908();
break;
Add M907-M910 g-codes support for Printrbot Rev. F
2016-03-20 01:19:41 +00:00
#if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 909: // M909: Print digipot/DAC current value
Add M907-M910 g-codes support for Printrbot Rev. F
2016-03-20 01:19:41 +00:00
gcode_M909();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 910: // M910: Commit digipot/DAC value to external EEPROM
Add M907-M910 g-codes support for Printrbot Rev. F
2016-03-20 01:19:41 +00:00
gcode_M910();
break;
#endif
#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
fix bug for dual extruders not working some guy find that marlin not working good for dual extruders delta . when type T0 or T1 to active extruder and E0 or E1 move causing XYZ motion . so i locales the bugs and fix it , I have dry run the fix.
2014-04-01 01:26:19 +00:00
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#if ENABLED(HAVE_TMC2130)
case 911: // M911: Report TMC2130 prewarn triggered flags
gcode_M911();
break;
case 912: // M911: Clear TMC2130 prewarn triggered flags
gcode_M912();
break;
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
#if ENABLED(HYBRID_THRESHOLD)
case 913: // M913: Set HYBRID_THRESHOLD speed.
gcode_M913();
break;
#endif
#if ENABLED(SENSORLESS_HOMING)
case 914: // M914: Set SENSORLESS_HOMING sensitivity.
gcode_M914();
break;
#endif
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_MICROSTEPS
Add support for solenoid articulated extruders
2015-03-03 01:07:12 +00:00
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
gcode_M350();
break;
Clean up GCode command short comments
2016-10-05 09:39:01 +00:00
case 351: // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
gcode_M351();
break;
#endif // HAS_MICROSTEPS
Add support for solenoid articulated extruders
2015-03-03 01:07:12 +00:00
Support for M335 case light "no case light"
2016-12-19 04:41:02 +00:00
case 355: // M355 Turn case lights on/off
gcode_M355();
break;
Case light G-code M355 implemented G-Code M355 into Marlin
2016-10-05 19:34:07 +00:00
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
case 999: // M999: Restart after being Stopped
gcode_M999();
break;
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Further optimization of command parser
2015-05-17 12:00:09 +00:00
break;
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Further optimization of command parser
2015-05-17 12:00:09 +00:00
case 'T':
use fetched value
2015-05-17 12:07:51 +00:00
gcode_T(codenum);
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
break;
Ignore unknown commands if they start with G, M, or T
2015-05-29 00:44:09 +00:00
default: code_is_good = false;
Move gcode handlers into inline functions
2015-03-05 12:27:24 +00:00
}
Send a Busy signal to hosts during long processes, wait for input, etc If Marlin is blocking the serial input or command queue for any length of time (for example more than 2 seconds), it needs to send a message to serial out to inform the host that it is busy. Marlin should only send these messages out when busy, and preferably not when trying to print formatted output.
2016-03-07 11:48:14 +00:00
KEEPALIVE_STATE(NOT_BUSY);
More parser comments, optimize code_seen, save with goto
2015-05-17 12:42:04 +00:00
ExitUnknownCommand:
// Still unknown command? Throw an error
Further optimization of command parser
2015-05-17 12:00:09 +00:00
if (!code_is_good) unknown_command_error();
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
ok_to_send();
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Send a "Resend: nnn" message to the host to
* indicate that a command needs to be re-sent.
*/
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
void FlushSerialRequestResend() {
Naming and code comments
2015-04-14 00:17:36 +00:00
//char command_queue[cmd_queue_index_r][100]="Resend:";
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
MYSERIAL.flush();
SERIAL_PROTOCOLPGM(MSG_RESEND);
SERIAL_PROTOCOLLN(gcode_LastN + 1);
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
ok_to_send();
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Send an "ok" message to the host, indicating
* that a command was successfully processed.
*
* If ADVANCED_OK is enabled also include:
* N<int> Line number of the command, if any
* P<int> Planner space remaining
* B<int> Block queue space remaining
*/
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
void ok_to_send() {
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
refresh_cmd_timeout();
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
if (!send_ok[cmd_queue_index_r]) return;
new timout/add adv_ok
2015-04-19 22:22:40 +00:00
SERIAL_PROTOCOLPGM(MSG_OK);
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(ADVANCED_OK)
Repair N in ADVANCED_OK Send the correct line number. If no N was in the command - non't send an N.
2016-02-09 18:23:26 +00:00
char* p = command_queue[cmd_queue_index_r];
if (*p == 'N') {
SERIAL_PROTOCOL(' ');
SERIAL_ECHO(*p++);
Add NUMERIC compare macros to simplify code
2016-03-28 10:52:49 +00:00
while (NUMERIC_SIGNED(*p))
Repair N in ADVANCED_OK Send the correct line number. If no N was in the command - non't send an N.
2016-02-09 18:23:26 +00:00
SERIAL_ECHO(*p++);
}
Follow-up the PR #3631(Encapsulate Stepper, ... Follow-up the PR #3631(Encapsulate Stepper, Planner, Endstops in singleton classes) plan_bed_level_matrix -> planner.bed_level_matrix in multi extruders section of Marlin_main.cpp It probably fix the Issue #3658(plan_bed_level_matrix not declarate). movesplanned() -> planner.movesplanned() in ADVANCED_OK section of Marlin_main.cpp It fix compilation error when ADVANCED_OK is enabled
2016-05-02 13:04:26 +00:00
SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
add plan buffer remaining for 'P' and block buffer remaining 'B'
2015-05-11 11:04:00 +00:00
SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
new timout/add adv_ok
2015-04-19 22:22:40 +00:00
#endif
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
SERIAL_EOL;
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Add HAS_SOFTWARE_ENDSTOPS macro
2017-03-16 22:20:24 +00:00
#if HAS_SOFTWARE_ENDSTOPS
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Constrain the given coordinates to the software endstops.
*/
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
void clamp_to_software_endstops(float target[XYZ]) {
Implement soft_endstops_enabled for clamping
2017-03-16 22:28:44 +00:00
if (!soft_endstops_enabled) return;
Software endstop options as simple switches
2017-03-17 01:03:57 +00:00
#if ENABLED(MIN_SOFTWARE_ENDSTOPS)
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
#endif
Software endstop options as simple switches
2017-03-17 01:03:57 +00:00
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Add M211: Enable/Disable Software Endstops
2016-08-21 01:07:42 +00:00
#endif
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
Move NONLINEAR bed leveling to planner This is in advance of moving non-linear bed leveling to the planner class.
2016-09-15 05:20:30 +00:00
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
#define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
#else
#define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
#define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
#define ABL_BG_POINTS_X GRID_MAX_POINTS_X
#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
bed_level_grid => z_values (also *_virt array)
2017-04-22 03:46:19 +00:00
#define ABL_BG_GRID(X,Y) z_values[X][Y]
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
#endif
Move NONLINEAR bed leveling to planner This is in advance of moving non-linear bed leveling to the planner class.
2016-09-15 05:20:30 +00:00
// Get the Z adjustment for non-linear bed leveling
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
float bilinear_z_offset(const float logical[XYZ]) {
Fix bilinear interpolation
2016-09-27 07:38:38 +00:00
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
last_x = -999.999, last_y = -999.999;
Fix bilinear interpolation
2016-09-27 07:38:38 +00:00
Fix bilinear grid constraints Followup to #5090
2016-10-26 23:11:26 +00:00
// Whole units for the grid line indices. Constrained within bounds.
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
static int8_t gridx, gridy, nextx, nexty,
last_gridx = -99, last_gridy = -99;
Fix up bilinear_z_offset
2016-09-28 17:56:35 +00:00
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
// XY relative to the probed area
const float x = RAW_X_POSITION(logical[X_AXIS]) - bilinear_start[X_AXIS],
y = RAW_Y_POSITION(logical[Y_AXIS]) - bilinear_start[Y_AXIS];
Add EXTRAPOLATE_BEYOND_GRID option to bilinear leveling
2017-05-04 05:19:07 +00:00
#if ENABLED(EXTRAPOLATE_BEYOND_GRID)
// Keep using the last grid box
#define FAR_EDGE_OR_BOX 2
#else
// Just use the grid far edge
#define FAR_EDGE_OR_BOX 1
#endif
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
if (last_x != x) {
last_x = x;
ratio_x = x * ABL_BG_FACTOR(X_AXIS);
Add EXTRAPOLATE_BEYOND_GRID option to bilinear leveling
2017-05-04 05:19:07 +00:00
const float gx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX);
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
ratio_x -= gx; // Subtract whole to get the ratio within the grid box
Add EXTRAPOLATE_BEYOND_GRID option to bilinear leveling
2017-05-04 05:19:07 +00:00
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
#endif
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
gridx = gx;
nextx = min(gridx + 1, ABL_BG_POINTS_X - 1);
}
if (last_y != y || last_gridx != gridx) {
if (last_y != y) {
last_y = y;
ratio_y = y * ABL_BG_FACTOR(Y_AXIS);
Add EXTRAPOLATE_BEYOND_GRID option to bilinear leveling
2017-05-04 05:19:07 +00:00
const float gy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX);
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
ratio_y -= gy;
Add EXTRAPOLATE_BEYOND_GRID option to bilinear leveling
2017-05-04 05:19:07 +00:00
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
#endif
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
gridy = gy;
nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
}
Fix bilinear grid constraints Followup to #5090
2016-10-26 23:11:26 +00:00
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
if (last_gridx != gridx || last_gridy != gridy) {
last_gridx = gridx;
last_gridy = gridy;
// Z at the box corners
z1 = ABL_BG_GRID(gridx, gridy); // left-front
d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
z3 = ABL_BG_GRID(nextx, gridy); // right-front
d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
}
Fix bilinear interpolation
2016-09-27 07:38:38 +00:00
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
// Bilinear interpolate. Needed since y or gridx has changed.
L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
D = R - L;
}
Fix bilinear interpolation
2016-09-27 07:38:38 +00:00
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
const float offset = L + ratio_x * D; // the offset almost always changes
Move NONLINEAR bed leveling to planner This is in advance of moving non-linear bed leveling to the planner class.
2016-09-15 05:20:30 +00:00
/*
Patch up bilinear_z_offset
2016-09-29 06:01:38 +00:00
static float last_offset = 0;
if (fabs(last_offset - offset) > 0.2) {
SERIAL_ECHOPGM("Sudden Shift at ");
SERIAL_ECHOPAIR("x=", x);
SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
SERIAL_ECHOPAIR(" y=", y);
SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
Move NONLINEAR bed leveling to planner This is in advance of moving non-linear bed leveling to the planner class.
2016-09-15 05:20:30 +00:00
SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
Patch up bilinear_z_offset
2016-09-29 06:01:38 +00:00
SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
Move NONLINEAR bed leveling to planner This is in advance of moving non-linear bed leveling to the planner class.
2016-09-15 05:20:30 +00:00
SERIAL_ECHOPAIR(" z1=", z1);
SERIAL_ECHOPAIR(" z2=", z2);
SERIAL_ECHOPAIR(" z3=", z3);
Patch up bilinear_z_offset
2016-09-29 06:01:38 +00:00
SERIAL_ECHOLNPAIR(" z4=", z4);
Fix bilinear interpolation
2016-09-27 07:38:38 +00:00
SERIAL_ECHOPAIR(" L=", L);
SERIAL_ECHOPAIR(" R=", R);
Patch up bilinear_z_offset
2016-09-29 06:01:38 +00:00
SERIAL_ECHOLNPAIR(" offset=", offset);
}
last_offset = offset;
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
//*/
Move NONLINEAR bed leveling to planner This is in advance of moving non-linear bed leveling to the planner class.
2016-09-15 05:20:30 +00:00
Patch up bilinear_z_offset
2016-09-29 06:01:38 +00:00
return offset;
Move NONLINEAR bed leveling to planner This is in advance of moving non-linear bed leveling to the planner class.
2016-09-15 05:20:30 +00:00
}
Enable ABL by type, support bilinear on cartesian
2016-09-26 04:17:39 +00:00
#endif // AUTO_BED_LEVELING_BILINEAR
Move NONLINEAR bed leveling to planner This is in advance of moving non-linear bed leveling to the planner class.
2016-09-15 05:20:30 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DELTA)
Add M605 to dynamically set delta configuration Save above configs in eeprom fix docs in createTemperatureLookupMarlin.py add missing azteegX3pro digipot settings in delta example config
2014-02-18 04:50:59 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Recalculate factors used for delta kinematics whenever
* settings have been changed (e.g., by M665).
*/
Include sync_plan_position_delta for SCARA also
2015-04-01 02:58:03 +00:00
void recalc_delta_settings(float radius, float diagonal_rod) {
M665 rework and related issues (all delta's) - Making M665 compatible with repetier (see http://reprap.org/wiki/G_code#M665:_Set_delta_configuration) - M665 B also sets the radius for manual calibration menu - Converting tower ajustment definitions to arrays - tower angle corrections compatible with Esher 3D wizzard - Only tower angles need to be adjustable with M665 and stored to EEPROM - tower radius and diag rod can be adjusted in the FW only with #define
2017-04-18 12:43:25 +00:00
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
M666 normalize positive values to <=0 M666 + tower radians absolute value
2017-04-27 21:24:08 +00:00
delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
M665 rework and related issues (all delta's) - Making M665 compatible with repetier (see http://reprap.org/wiki/G_code#M665:_Set_delta_configuration) - M665 B also sets the radius for manual calibration menu - Converting tower ajustment definitions to arrays - tower angle corrections compatible with Esher 3D wizzard - Only tower angles need to be adjustable with M665 and stored to EEPROM - tower radius and diag rod can be adjusted in the FW only with #define
2017-04-18 12:43:25 +00:00
delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower
delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]);
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);
Include sync_plan_position_delta for SCARA also
2015-04-01 02:58:03 +00:00
}
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
#if ENABLED(DELTA_FAST_SQRT)
/**
* Fast inverse sqrt from Quake III Arena
* See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
*/
float Q_rsqrt(float number) {
long i;
float x2, y;
const float threehalfs = 1.5f;
x2 = number * 0.5f;
y = number;
i = * ( long * ) &y; // evil floating point bit level hacking
Format hex values as uppercase
2017-04-22 02:42:27 +00:00
i = 0x5F3759DF - ( i >> 1 ); // what the f***?
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
y = * ( float * ) &i;
y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
// y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
return y;
}
#define _SQRT(n) (1.0f / Q_rsqrt(n))
#else
#define _SQRT(n) sqrt(n)
#endif
/**
* Delta Inverse Kinematics
*
* Calculate the tower positions for a given logical
* position, storing the result in the delta[] array.
*
* This is an expensive calculation, requiring 3 square
* roots per segmented linear move, and strains the limits
* of a Mega2560 with a Graphical Display.
*
* Suggested optimizations include:
*
* - Disable the home_offset (M206) and/or position_shift (G92)
* features to remove up to 12 float additions.
*
* - Use a fast-inverse-sqrt function and add the reciprocal.
* (see above)
*/
Include sync_plan_position_delta for SCARA also
2015-04-01 02:58:03 +00:00
Add Delta kinematic optimization options
2016-09-16 18:07:43 +00:00
// Macro to obtain the Z position of an individual tower
Use arrays for delta tower parameters
2017-03-07 23:42:04 +00:00
#define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
delta_diagonal_rod_2_tower[T] - HYPOT2( \
delta_tower[T][X_AXIS] - raw[X_AXIS], \
delta_tower[T][Y_AXIS] - raw[Y_AXIS] \
) \
Add Delta kinematic optimization options
2016-09-16 18:07:43 +00:00
)
Remove kinematic optimizations
2017-03-17 11:30:22 +00:00
#define DELTA_RAW_IK() do { \
Use arrays for delta tower parameters
2017-03-07 23:42:04 +00:00
delta[A_AXIS] = DELTA_Z(A_AXIS); \
delta[B_AXIS] = DELTA_Z(B_AXIS); \
delta[C_AXIS] = DELTA_Z(C_AXIS); \
Improve kinematic optimization options
2016-09-21 22:43:06 +00:00
} while(0)
Add Delta kinematic optimization options
2016-09-16 18:07:43 +00:00
#define DELTA_LOGICAL_IK() do { \
const float raw[XYZ] = { \
RAW_X_POSITION(logical[X_AXIS]), \
RAW_Y_POSITION(logical[Y_AXIS]), \
RAW_Z_POSITION(logical[Z_AXIS]) \
}; \
Improve kinematic optimization options
2016-09-21 22:43:06 +00:00
DELTA_RAW_IK(); \
Add Delta kinematic optimization options
2016-09-16 18:07:43 +00:00
} while(0)
#define DELTA_DEBUG() do { \
SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
} while(0)
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
Add Delta kinematic optimization options
2016-09-16 18:07:43 +00:00
void inverse_kinematics(const float logical[XYZ]) {
DELTA_LOGICAL_IK();
// DELTA_DEBUG();
Include sync_plan_position_delta for SCARA also
2015-04-01 02:58:03 +00:00
}
Ported over Johann Rocholl's improvements for delta printers: - Nonlinear auto bed leveling code (includes G29, G30, Z_RAISE_AFTER_PROBING). Cleaned it up to be a delta-specific AUTO_BED_LEVELING_GRID code path. - Allen key z-probe deployment and retraction code. Cleaned it up and added safety checks.
2015-03-07 18:36:21 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Calculate the highest Z position where the
* effector has the full range of XY motion.
*/
DELTA: Move out of the clip-zone after G28 Move down to a safe height after G28 for DELTAs.
2016-07-15 13:20:54 +00:00
float delta_safe_distance_from_top() {
Use ABC and XYZ for "3"
2016-08-21 03:38:32 +00:00
float cartesian[XYZ] = {
Make POSITION macros global
2016-07-24 23:34:01 +00:00
LOGICAL_X_POSITION(0),
LOGICAL_Y_POSITION(0),
LOGICAL_Z_POSITION(0)
Add LOGICAL_POSITION macro, apply to kinematics
2016-07-23 00:46:05 +00:00
};
Generalize kinematics function names
2016-07-21 22:46:22 +00:00
inverse_kinematics(cartesian);
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
float distance = delta[A_AXIS];
Make POSITION macros global
2016-07-24 23:34:01 +00:00
cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
Generalize kinematics function names
2016-07-21 22:46:22 +00:00
inverse_kinematics(cartesian);
Bed leveling that accounts for home XYZ
2016-08-21 08:10:55 +00:00
return abs(distance - delta[A_AXIS]);
DELTA: Move out of the clip-zone after G28 Move down to a safe height after G28 for DELTAs.
2016-07-15 13:20:54 +00:00
}
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Delta Forward Kinematics
*
* See the Wikipedia article "Trilateration"
* https://en.wikipedia.org/wiki/Trilateration
*
* Establish a new coordinate system in the plane of the
* three carriage points. This system has its origin at
* tower1, with tower2 on the X axis. Tower3 is in the X-Y
* plane with a Z component of zero.
* We will define unit vectors in this coordinate system
* in our original coordinate system. Then when we calculate
* the Xnew, Ynew and Znew values, we can translate back into
* the original system by moving along those unit vectors
* by the corresponding values.
*
* Variable names matched to Marlin, c-version, and avoid the
* use of any vector library.
*
* by Andreas Hardtung 2016-06-07
* based on a Java function from "Delta Robot Kinematics V3"
* by Steve Graves
*
* The result is stored in the cartes[] array.
*/
Generalize kinematics function names
2016-07-21 22:46:22 +00:00
void forward_kinematics_DELTA(float z1, float z2, float z3) {
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Create a vector in old coordinates along x axis of new coordinate
Use arrays for delta tower parameters
2017-03-07 23:42:04 +00:00
float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 };
forwardKinematics for Delta printers
2016-06-06 23:44:14 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Get the Magnitude of vector.
float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
forwardKinematics for Delta printers
2016-06-06 23:44:14 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Create unit vector by dividing by magnitude.
float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
forwardKinematics for Delta printers
2016-06-06 23:44:14 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Get the vector from the origin of the new system to the third point.
Use arrays for delta tower parameters
2017-03-07 23:42:04 +00:00
float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 };
forwardKinematics for Delta printers
2016-06-06 23:44:14 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Use the dot product to find the component of this vector on the X axis.
float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
forwardKinematics for Delta printers
2016-06-06 23:44:14 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Create a vector along the x axis that represents the x component of p13.
float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
forwardKinematics for Delta printers
2016-06-06 23:44:14 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Subtract the X component from the original vector leaving only Y. We use the
// variable that will be the unit vector after we scale it.
float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
forwardKinematics for Delta printers
2016-06-06 23:44:14 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// The magnitude of Y component
float j = sqrt( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
forwardKinematics for Delta printers
2016-06-06 23:44:14 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Convert to a unit vector
forwardKinematics for Delta printers
2016-06-06 23:44:14 +00:00
ey[0] /= j; ey[1] /= j; ey[2] /= j;
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// The cross product of the unit x and y is the unit z
// float[] ez = vectorCrossProd(ex, ey);
float ez[3] = {
ex[1] * ey[2] - ex[2] * ey[1],
ex[2] * ey[0] - ex[0] * ey[2],
ex[0] * ey[1] - ex[1] * ey[0]
};
// We now have the d, i and j values defined in Wikipedia.
// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
Use arrays for delta tower parameters
2017-03-07 23:42:04 +00:00
float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
Znew = sqrt(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Start from the origin of the old coordinates and add vectors in the
// old coords that represent the Xnew, Ynew and Znew to find the point
// in the old system.
Use arrays for delta tower parameters
2017-03-07 23:42:04 +00:00
cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
fixed warning: extra ;
2016-10-13 15:51:44 +00:00
}
forwardKinematics for Delta printers
2016-06-06 23:44:14 +00:00
Use ABC and XYZ for "3"
2016-08-21 03:38:32 +00:00
void forward_kinematics_DELTA(float point[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
Use forwardKinematics in DELTA run_z_probe()
2016-07-21 16:05:48 +00:00
}
Include sync_plan_position_delta for SCARA also
2015-04-01 02:58:03 +00:00
#endif // DELTA
Add realtime delta geometry in Marlin_main.cpp.
2012-12-10 09:04:12 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Get the stepper positions in the cartes[] array.
* Forward kinematics are applied for DELTA and SCARA.
*
* The result is in the current coordinate space with
* leveling applied. The coordinates need to be run through
* unapply_leveling to obtain the "ideal" coordinates
* suitable for current_position, etc.
*/
void get_cartesian_from_steppers() {
#if ENABLED(DELTA)
forward_kinematics_DELTA(
stepper.get_axis_position_mm(A_AXIS),
stepper.get_axis_position_mm(B_AXIS),
stepper.get_axis_position_mm(C_AXIS)
);
Fix get_cartesian_from_steppers
2016-09-15 20:07:14 +00:00
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
#elif IS_SCARA
forward_kinematics_SCARA(
stepper.get_axis_position_degrees(A_AXIS),
stepper.get_axis_position_degrees(B_AXIS)
);
Fix get_cartesian_from_steppers
2016-09-15 20:07:14 +00:00
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#else
cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#endif
}
/**
* Set the current_position for an axis based on
* the stepper positions, removing any leveling that
* may have been applied.
*/
set_current_from_steppers_for_axis const arg
2016-09-15 04:50:17 +00:00
void set_current_from_steppers_for_axis(const AxisEnum axis) {
Use unapply_leveling in set_current_from_steppers_for_axis
2016-09-15 20:02:36 +00:00
get_cartesian_from_steppers();
Adjust leveling conditionals
2017-05-01 21:13:09 +00:00
#if PLANNER_LEVELING
Pass array pointer to unapply_leveling
2016-09-23 08:01:27 +00:00
planner.unapply_leveling(cartes);
Use set_current_from_steppers for other kinematics
2016-07-21 21:35:48 +00:00
#endif
Use unapply_leveling in set_current_from_steppers_for_axis
2016-09-15 20:02:36 +00:00
if (axis == ALL_AXES)
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(current_position, cartes);
Use unapply_leveling in set_current_from_steppers_for_axis
2016-09-15 20:02:36 +00:00
else
current_position[axis] = cartes[axis];
Use set_current_from_steppers for other kinematics
2016-07-21 21:35:48 +00:00
}
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(MESH_BED_LEVELING)
Include sync_plan_position_delta for SCARA also
2015-04-01 02:58:03 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Prepare a mesh-leveled linear move in a Cartesian setup,
* splitting the move where it crosses mesh borders.
*/
Format hex values as uppercase
2017-04-22 02:42:27 +00:00
void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xFF, uint8_t y_splits = 0xFF) {
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X)),
cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y)),
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
Use same config name for all mesh dimensions
2017-04-06 03:29:44 +00:00
NOMORE(cx1, GRID_MAX_POINTS_X - 2);
NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
NOMORE(cx2, GRID_MAX_POINTS_X - 2);
NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
Reduce code size of mesh_buffer_line
2016-07-17 02:08:54 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
#define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
A macro to normalize positions
2016-07-17 02:20:16 +00:00
Corrections to bilinear_line_to_destination - Allow more than 9x9 probe points - Account for the probe starting position
2016-11-03 09:43:59 +00:00
float normalized_dist, end[XYZE];
Drop intermediate nx, ny, and set destination directly
2016-07-17 19:21:28 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Split at the left/front border of the right/top square
Apply some general cleanup to code
2017-03-24 05:53:28 +00:00
const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
if (cx2 != cx1 && TEST(x_splits, gcx)) {
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(end, destination);
Make MBL a static class, use lookup for index-to-point conversion
2017-03-31 06:28:07 +00:00
destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = MBL_SEGMENT_END(Y);
CBI(x_splits, gcx);
}
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(end, destination);
Make MBL a static class, use lookup for index-to-point conversion
2017-03-31 06:28:07 +00:00
destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = MBL_SEGMENT_END(X);
CBI(y_splits, gcy);
}
else {
// Already split on a border
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
nz and ne are always set, so drop them down
2016-07-17 02:16:12 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
destination[Z_AXIS] = MBL_SEGMENT_END(Z);
destination[E_AXIS] = MBL_SEGMENT_END(E);
We always use `destination` so modify mesh_buffer_line
2016-07-17 02:28:13 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
// Do the split and look for more borders
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
// Restore destination from stack
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(destination, end);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
}
We always use `destination` so modify mesh_buffer_line
2016-07-17 02:28:13 +00:00
Don't define bilinear_line_to_destination on kinematic setups
2016-11-03 19:09:51 +00:00
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
Split moves on grid boundaries with bilinear ABL on cartesian
2016-11-01 12:19:00 +00:00
Spend some SRAM to optimize bilinear leveling
2017-04-21 06:34:03 +00:00
#define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
Corrections to bilinear_line_to_destination - Allow more than 9x9 probe points - Account for the probe starting position
2016-11-03 09:43:59 +00:00
Split moves on grid boundaries with bilinear ABL on cartesian
2016-11-01 12:19:00 +00:00
/**
Corrections to bilinear_line_to_destination - Allow more than 9x9 probe points - Account for the probe starting position
2016-11-03 09:43:59 +00:00
* Prepare a bilinear-leveled linear move on Cartesian,
* splitting the move where it crosses grid borders.
Split moves on grid boundaries with bilinear ABL on cartesian
2016-11-01 12:19:00 +00:00
*/
Corrections to bilinear_line_to_destination - Allow more than 9x9 probe points - Account for the probe starting position
2016-11-03 09:43:59 +00:00
void bilinear_line_to_destination(float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) {
int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
cx2 = CELL_INDEX(X, destination[X_AXIS]),
cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
Split moves on grid boundaries with bilinear ABL on cartesian
2016-11-01 12:19:00 +00:00
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
#define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
Corrections to bilinear_line_to_destination - Allow more than 9x9 probe points - Account for the probe starting position
2016-11-03 09:43:59 +00:00
float normalized_dist, end[XYZE];
Split moves on grid boundaries with bilinear ABL on cartesian
2016-11-01 12:19:00 +00:00
// Split at the left/front border of the right/top square
Apply some general cleanup to code
2017-03-24 05:53:28 +00:00
const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
Split moves on grid boundaries with bilinear ABL on cartesian
2016-11-01 12:19:00 +00:00
if (cx2 != cx1 && TEST(x_splits, gcx)) {
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(end, destination);
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
Split moves on grid boundaries with bilinear ABL on cartesian
2016-11-01 12:19:00 +00:00
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = LINE_SEGMENT_END(Y);
CBI(x_splits, gcx);
}
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(end, destination);
Experimental bilinear subdivision option
2016-11-05 16:01:26 +00:00
destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
Split moves on grid boundaries with bilinear ABL on cartesian
2016-11-01 12:19:00 +00:00
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = LINE_SEGMENT_END(X);
CBI(y_splits, gcy);
}
else {
// Already split on a border
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
destination[Z_AXIS] = LINE_SEGMENT_END(Z);
destination[E_AXIS] = LINE_SEGMENT_END(E);
// Do the split and look for more borders
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
// Restore destination from stack
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(destination, end);
Split moves on grid boundaries with bilinear ABL on cartesian
2016-11-01 12:19:00 +00:00
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
}
#endif // AUTO_BED_LEVELING_BILINEAR
WIP. Adding bed leveling code.
2015-03-15 09:43:26 +00:00
Cleanups to UBL_DELTA
2017-05-12 06:05:11 +00:00
#if IS_KINEMATIC && !UBL_DELTA
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Prepare a linear move in a DELTA or SCARA setup.
*
* This calls planner.buffer_line several times, adding
* small incremental moves for DELTA or SCARA.
*/
Use XYZE rather than NUM_AXIS
2017-03-18 02:14:05 +00:00
inline bool prepare_kinematic_move_to(float ltarget[XYZE]) {
Optimize prepare_kinematic_move_to
2016-09-15 20:38:48 +00:00
// Get the top feedrate of the move in the XY plane
Apply const in Marlin_main.cpp
2017-05-12 04:22:58 +00:00
const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
Optimize prepare_kinematic_move_to
2016-09-15 20:38:48 +00:00
Fix prepare_kinematic_move_to precision
2016-09-23 06:46:52 +00:00
// If the move is only in Z/E don't split up the move
if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
Improve planner kinematics, fix delta ABL
2016-10-06 08:56:05 +00:00
planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
Reverse bools on prepare_move sub-functions
2017-04-15 04:48:30 +00:00
return false;
Optimize prepare_kinematic_move_to
2016-09-15 20:38:48 +00:00
}
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
// Fail if attempting move outside printable radius
Cleanups to UBL_DELTA
2017-05-12 06:05:11 +00:00
if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) return true;
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
Fix prepare_kinematic_move_to precision
2016-09-23 06:46:52 +00:00
// Get the cartesian distances moved in XYZE
Use XYZE rather than NUM_AXIS
2017-03-18 02:14:05 +00:00
float difference[XYZE];
Fix prepare_kinematic_move_to precision
2016-09-23 06:46:52 +00:00
LOOP_XYZE(i) difference[i] = ltarget[i] - current_position[i];
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
Fix prepare_kinematic_move_to precision
2016-09-23 06:46:52 +00:00
// Get the linear distance in XYZ
Catch dangerous extrude before trying several
2015-04-09 08:40:48 +00:00
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
Fix prepare_kinematic_move_to precision
2016-09-23 06:46:52 +00:00
// If the move is very short, check the E move distance
Use last probe point to correct Z when possible
2016-08-21 08:10:55 +00:00
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
Fix prepare_kinematic_move_to precision
2016-09-23 06:46:52 +00:00
// No E move either? Game over.
Reverse bools on prepare_move sub-functions
2017-04-15 04:48:30 +00:00
if (UNEAR_ZERO(cartesian_mm)) return true;
Optimize prepare_kinematic_move_to
2016-09-15 20:38:48 +00:00
// Minimum number of seconds to move the given distance
Apply const in Marlin_main.cpp
2017-05-12 04:22:58 +00:00
const float seconds = cartesian_mm / _feedrate_mm_s;
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
Optimize prepare_kinematic_move_to
2016-09-15 20:38:48 +00:00
// The number of segments-per-second times the duration
Fix prepare_kinematic_move_to precision
2016-09-23 06:46:52 +00:00
// gives the number of segments
Optimize prepare_kinematic_move_to
2016-09-15 20:38:48 +00:00
uint16_t segments = delta_segments_per_second * seconds;
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
Dynamic feedrate on SCARA, converting target mm/s to deg/s
2017-03-28 21:37:11 +00:00
// For SCARA minimum segment size is 0.25mm
Optimize prepare_kinematic_move_to
2016-09-15 20:38:48 +00:00
#if IS_SCARA
Dynamic feedrate on SCARA, converting target mm/s to deg/s
2017-03-28 21:37:11 +00:00
NOMORE(segments, cartesian_mm * 4);
Optimize prepare_kinematic_move_to
2016-09-15 20:38:48 +00:00
#endif
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
Fix prepare_kinematic_move_to precision
2016-09-23 06:46:52 +00:00
// At least one segment is required
Optimize prepare_kinematic_move_to
2016-09-15 20:38:48 +00:00
NOLESS(segments, 1);
Fix prepare_kinematic_move_to precision
2016-09-23 06:46:52 +00:00
// The approximate length of each segment
Dynamic feedrate on SCARA, converting target mm/s to deg/s
2017-03-28 21:37:11 +00:00
const float inv_segments = 1.0 / float(segments),
segment_distance[XYZE] = {
difference[X_AXIS] * inv_segments,
difference[Y_AXIS] * inv_segments,
difference[Z_AXIS] * inv_segments,
difference[E_AXIS] * inv_segments
};
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
Clean up serial out code
2016-09-12 22:49:35 +00:00
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOPAIR(" seconds=", seconds);
Optimize prepare_kinematic_move_to
2016-09-15 20:38:48 +00:00
// SERIAL_ECHOLNPAIR(" segments=", segments);
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
Disable SCARA feedrate scaling by default
2017-05-08 19:41:03 +00:00
#if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
Dynamic feedrate on SCARA, converting target mm/s to deg/s
2017-03-28 21:37:11 +00:00
// SCARA needs to scale the feed rate from mm/s to degrees/s
const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
feed_factor = inv_segment_length * _feedrate_mm_s;
float oldA = stepper.get_axis_position_degrees(A_AXIS),
oldB = stepper.get_axis_position_degrees(B_AXIS);
#endif
Fix prepare_kinematic_move_to precision
2016-09-23 06:46:52 +00:00
Remove kinematic optimizations
2017-03-17 11:30:22 +00:00
// Get the logical current position as starting point
float logical[XYZE];
COPY(logical, current_position);
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
Dynamic feedrate on SCARA, converting target mm/s to deg/s
2017-03-28 21:37:11 +00:00
// Drop one segment so the last move is to the exact target.
// If there's only 1 segment, loops will be skipped entirely.
--segments;
Remove delta interpolation concept
2017-03-17 11:32:11 +00:00
// Calculate and execute the segments
for (uint16_t s = segments + 1; --s;) {
LOOP_XYZE(i) logical[i] += segment_distance[i];
Add Delta kinematic optimization options
2016-09-16 18:07:43 +00:00
#if ENABLED(DELTA)
Remove delta interpolation concept
2017-03-17 11:32:11 +00:00
DELTA_LOGICAL_IK(); // Delta can inline its kinematics
Add Delta kinematic optimization options
2016-09-16 18:07:43 +00:00
#else
Remove delta interpolation concept
2017-03-17 11:32:11 +00:00
inverse_kinematics(logical);
Add Delta kinematic optimization options
2016-09-16 18:07:43 +00:00
#endif
Dynamic feedrate on SCARA, converting target mm/s to deg/s
2017-03-28 21:37:11 +00:00
Remove delta interpolation concept
2017-03-17 11:32:11 +00:00
ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
Dynamic feedrate on SCARA, converting target mm/s to deg/s
2017-03-28 21:37:11 +00:00
Disable SCARA feedrate scaling by default
2017-05-08 19:41:03 +00:00
#if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
Dynamic feedrate on SCARA, converting target mm/s to deg/s
2017-03-28 21:37:11 +00:00
// For SCARA scale the feed rate from mm/s to degrees/s
// Use ratio between the length of the move and the larger angle change
const float adiff = abs(delta[A_AXIS] - oldA),
bdiff = abs(delta[B_AXIS] - oldB);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
oldA = delta[A_AXIS];
oldB = delta[B_AXIS];
#else
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
#endif
Remove delta interpolation concept
2017-03-17 11:32:11 +00:00
}
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
Fix prepare_kinematic_move_to precision
2016-09-23 06:46:52 +00:00
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
Dynamic feedrate on SCARA, converting target mm/s to deg/s
2017-03-28 21:37:11 +00:00
Disable SCARA feedrate scaling by default
2017-05-08 19:41:03 +00:00
#if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
Dynamic feedrate on SCARA, converting target mm/s to deg/s
2017-03-28 21:37:11 +00:00
// For SCARA scale the feed rate from mm/s to degrees/s
// With segments > 1 length is 1 segment, otherwise total length
inverse_kinematics(ltarget);
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
ADJUST_DELTA(ltarget);
Dynamic feedrate on SCARA, converting target mm/s to deg/s
2017-03-28 21:37:11 +00:00
const float adiff = abs(delta[A_AXIS] - oldA),
bdiff = abs(delta[B_AXIS] - oldB);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
#else
planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
#endif
Reverse bools on prepare_move sub-functions
2017-04-15 04:48:30 +00:00
return false;
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
}
Apply leveling for DELTA, - Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
2015-03-30 06:16:12 +00:00
Cleanups to UBL_DELTA
2017-05-12 06:05:11 +00:00
#else // !IS_KINEMATIC || UBL_DELTA
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Prepare a linear move in a Cartesian setup.
* If Mesh Bed Leveling is enabled, perform a mesh move.
Fix logic of UBL::fade_scaling_factor_for_z
2017-04-02 03:29:35 +00:00
*
* Returns true if the caller didn't update current_position.
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
*/
inline bool prepare_move_to_destination_cartesian() {
Fix prepare_move_to_destination_cartesian for UBL
2017-05-13 09:09:21 +00:00
#if ENABLED(AUTO_BED_LEVELING_UBL)
const float fr_scaled = MMS_SCALED(feedrate_mm_s);
if (ubl.state.active) {
ubl_line_to_destination_cartesian(fr_scaled, active_extruder);
return true;
}
else
line_to_destination(fr_scaled);
#else
// Do not use feedrate_percentage for E or Z only moves
if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS])
line_to_destination();
else {
const float fr_scaled = MMS_SCALED(feedrate_mm_s);
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active()) {
mesh_line_to_destination(fr_scaled);
return true;
}
else
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (planner.abl_enabled) {
bilinear_line_to_destination(fr_scaled);
return true;
}
else
#endif
line_to_destination(fr_scaled);
}
#endif
Reverse bools on prepare_move sub-functions
2017-04-15 04:48:30 +00:00
return false;
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
}
Cleanups to UBL_DELTA
2017-05-12 06:05:11 +00:00
#endif // !IS_KINEMATIC || UBL_DELTA
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Prepare a linear move in a dual X axis setup
*/
Rename some movement sub-functions
2016-06-30 22:37:32 +00:00
inline bool prepare_move_to_destination_dualx() {
Fix manage_inactivity - Document `manage_inactivity` function - Allow `EXTRUDER_RUNOUT_PREVENT` to work with all extruders - Use faster `memcpy` for copying coordinates
2015-04-04 06:42:50 +00:00
if (active_extruder_parked) {
Fix up Dual X switch blocks
2016-11-03 02:38:26 +00:00
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
break;
case DXC_AUTO_PARK_MODE:
if (current_position[E_AXIS] == destination[E_AXIS]) {
// This is a travel move (with no extrusion)
// Skip it, but keep track of the current position
// (so it can be used as the start of the next non-travel move)
if (delayed_move_time != 0xFFFFFFFFUL) {
set_current_to_destination();
NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
delayed_move_time = millis();
Reverse bools on prepare_move sub-functions
2017-04-15 04:48:30 +00:00
return true;
Fix up Dual X switch blocks
2016-11-03 02:38:26 +00:00
}
}
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
Reduce code size for Dual X un-park
2016-11-07 06:33:12 +00:00
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
current_position[E_AXIS],
i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
active_extruder
);
delayed_move_time = 0;
Fix up Dual X switch blocks
2016-11-03 02:38:26 +00:00
active_extruder_parked = false;
Extra logging of Dual X modes
2017-04-15 04:47:53 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Clear active_extruder_parked");
#endif
Fix up Dual X switch blocks
2016-11-03 02:38:26 +00:00
break;
Fix modes ordering in prepare_move_to_destination_dualx
2016-11-07 06:18:44 +00:00
case DXC_DUPLICATION_MODE:
if (active_extruder == 0) {
Extra logging of Dual X modes
2017-04-15 04:47:53 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Set planner X", LOGICAL_X_POSITION(inactive_extruder_x_pos));
SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
}
#endif
Fix modes ordering in prepare_move_to_destination_dualx
2016-11-07 06:18:44 +00:00
// move duplicate extruder into correct duplication position.
planner.set_position_mm(
LOGICAL_X_POSITION(inactive_extruder_x_pos),
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
);
Adjust park code in tool_change
2016-11-07 06:21:45 +00:00
planner.buffer_line(
current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
planner.max_feedrate_mm_s[X_AXIS], 1
);
Fix modes ordering in prepare_move_to_destination_dualx
2016-11-07 06:18:44 +00:00
SYNC_PLAN_POSITION_KINEMATIC();
stepper.synchronize();
extruder_duplication_enabled = true;
active_extruder_parked = false;
Extra logging of Dual X modes
2017-04-15 04:47:53 +00:00
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
#endif
}
else {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Active extruder not 0");
#endif
Fix modes ordering in prepare_move_to_destination_dualx
2016-11-07 06:18:44 +00:00
}
break;
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
}
}
Reverse bools on prepare_move sub-functions
2017-04-15 04:48:30 +00:00
return false;
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
}
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
#endif // DUAL_X_CARRIAGE
/**
* Prepare a single move and get ready for the next one
Fix comment on M83, add comment to prepare_move
2015-06-28 04:49:37 +00:00
*
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
* This may result in several calls to planner.buffer_line to
* do smaller moves for DELTA, SCARA, mesh moves, etc.
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
*/
Clarify names of prepare_move functions
2016-06-11 02:23:41 +00:00
void prepare_move_to_destination() {
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
clamp_to_software_endstops(destination);
refresh_cmd_timeout();
PREVENT_DANGEROUS_EXTRUDE => PREVENT_COLD_EXTRUSION Also improve the documentation of this and related options, and set EXTRUDE_MINTEMP to 170 everywhere.
2016-08-21 04:34:24 +00:00
#if ENABLED(PREVENT_COLD_EXTRUSION)
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
if (!DEBUGGING(DRYRUN)) {
if (destination[E_AXIS] != current_position[E_AXIS]) {
if (thermalManager.tooColdToExtrude(active_extruder)) {
current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (labs(destination[E_AXIS] - current_position[E_AXIS]) > EXTRUDE_MAXLENGTH) {
current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
#endif
}
}
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
#endif
Cleanups to UBL_DELTA
2017-05-12 06:05:11 +00:00
if (
#if IS_KINEMATIC
#if UBL_DELTA
ubl_prepare_linear_move_to(destination, feedrate_mm_s)
#else
prepare_kinematic_move_to(destination)
#endif
#elif ENABLED(DUAL_X_CARRIAGE)
prepare_move_to_destination_dualx()
#elif UBL_DELTA // will work for CARTESIAN too (smaller segments follow mesh more closely)
ubl_prepare_linear_move_to(destination, feedrate_mm_s)
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
#else
Cleanups to UBL_DELTA
2017-05-12 06:05:11 +00:00
prepare_move_to_destination_cartesian()
General cleanup around high level move functions - Use new `DEBUG_POS` macro for `DELTA` debug - Neaten up `prepare_move` a smidgen - Remove an old commented `prepare_move()` line
2016-04-26 03:02:24 +00:00
#endif
Cleanups to UBL_DELTA
2017-05-12 06:05:11 +00:00
) return;
restore Branch from Backup sorry for that
2014-06-23 15:09:57 +00:00
Fix manage_inactivity - Document `manage_inactivity` function - Allow `EXTRUDER_RUNOUT_PREVENT` to work with all extruders - Use faster `memcpy` for copying coordinates
2015-04-04 06:42:50 +00:00
set_current_to_destination();
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
#if ENABLED(ARC_SUPPORT)
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
/**
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
* Plan an arc in 2 dimensions
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
*
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
* The arc is approximated by generating many small linear segments.
* The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
* Arcs should only be made relatively large (over 5mm), as larger arcs with
* larger segments will tend to be more efficient. Your slicer should have
* options for G2/G3 arc generation. In future these options may be GCode tunable.
Formatted multi-line comments
2016-03-27 03:36:36 +00:00
*/
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
void plan_arc(
Use XYZE rather than NUM_AXIS
2017-03-18 02:14:05 +00:00
float logical[XYZE], // Destination position
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
float *offset, // Center of rotation relative to current_position
uint8_t clockwise // Clockwise?
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
) {
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
float r_X = -offset[X_AXIS], // Radius vector from center to current location
r_Y = -offset[Y_AXIS];
const float radius = HYPOT(r_X, r_Y),
center_X = current_position[X_AXIS] - r_X,
center_Y = current_position[Y_AXIS] - r_Y,
rt_X = logical[X_AXIS] - center_X,
rt_Y = logical[Y_AXIS] - center_Y,
linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
extruder_travel = logical[E_AXIS] - current_position[E_AXIS];
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
if (angular_travel < 0) angular_travel += RADIANS(360);
if (clockwise) angular_travel -= RADIANS(360);
// Make a circle if the angular rotation is 0
Use 'logical' rather than 'target' or 'cartesian'
2016-09-15 07:31:36 +00:00
if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
angular_travel += RADIANS(360);
Apply const in Marlin_main.cpp
2017-05-12 04:22:58 +00:00
const float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
if (mm_of_travel < 0.001) return;
Fix buzzer conditional compile
2016-10-05 02:31:50 +00:00
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
if (segments == 0) segments = 1;
/**
* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
* and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
* r_T = [cos(phi) -sin(phi);
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
* sin(phi) cos(phi)] * r ;
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
*
* For arc generation, the center of the circle is the axis of rotation and the radius vector is
* defined from the circle center to the initial position. Each line segment is formed by successive
* vector rotations. This requires only two cos() and sin() computations to form the rotation
* matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
* all double numbers are single precision on the Arduino. (True double precision will not have
* round off issues for CNC applications.) Single precision error can accumulate to be greater than
* tool precision in some cases. Therefore, arc path correction is implemented.
*
* Small angle approximation may be used to reduce computation overhead further. This approximation
* holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
* theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
* to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
* numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
* issue for CNC machines with the single precision Arduino calculations.
*
* This approximation also allows plan_arc to immediately insert a line segment into the planner
* without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
* a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
* This is important when there are successive arc motions.
*/
// Vector rotation matrix values
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
float arc_target[XYZE];
const float theta_per_segment = angular_travel / segments,
linear_per_segment = linear_travel / segments,
extruder_per_segment = extruder_travel / segments,
sin_T = theta_per_segment,
cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
// Initialize the linear axis
arc_target[Z_AXIS] = current_position[Z_AXIS];
Move plan_arc next to prepare_move
2015-07-19 17:49:02 +00:00
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
// Initialize the extruder axis
arc_target[E_AXIS] = current_position[E_AXIS];
Move plan_arc next to prepare_move
2015-07-19 17:49:02 +00:00
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
Move plan_arc next to prepare_move
2015-07-19 17:49:02 +00:00
Update comments, rename next_ping_ms, followup to #3797
2016-05-15 00:37:42 +00:00
millis_t next_idle_ms = millis() + 200UL;
Idle during long arcs Idle during long arcs to prevent from watchdog resets during high segmented fast arcs.
2016-05-13 22:29:13 +00:00
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
int8_t count = 0;
for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
Move plan_arc next to prepare_move
2015-07-19 17:49:02 +00:00
No compromises for the manage_heater() No compromises for the manage_heater(). manage_heater() will return immediately when there is nothing to do, but needs a constant detaT to work proper. Calling idle() only every 200ms results in a display update every ~2 seconds - that should be enough. For the other functionalities in idle() and manage_inactivity() 200ms is a lot but hopefully works.
2016-05-19 18:52:11 +00:00
thermalManager.manage_heater();
Comment and clean up some vars
2016-10-05 02:32:37 +00:00
if (ELAPSED(millis(), next_idle_ms)) {
next_idle_ms = millis() + 200UL;
Idle during long arcs Idle during long arcs to prevent from watchdog resets during high segmented fast arcs.
2016-05-13 22:29:13 +00:00
idle();
}
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
if (++count < N_ARC_CORRECTION) {
// Apply vector rotation matrix to previous r_X / 1
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
const float r_new_Y = r_X * sin_T + r_Y * cos_T;
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
r_X = r_X * cos_T - r_Y * sin_T;
r_Y = r_new_Y;
}
else {
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
// To reduce stuttering, the sin and cos could be computed at different times.
// For now, compute both at the same time.
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
const float cos_Ti = cos(i * theta_per_segment),
sin_Ti = sin(i * theta_per_segment);
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
count = 0;
}
// Update arc_target location
arc_target[X_AXIS] = center_X + r_X;
arc_target[Y_AXIS] = center_Y + r_Y;
arc_target[Z_AXIS] += linear_per_segment;
arc_target[E_AXIS] += extruder_per_segment;
Move plan_arc next to prepare_move
2015-07-19 17:49:02 +00:00
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
clamp_to_software_endstops(arc_target);
Move plan_arc next to prepare_move
2015-07-19 17:49:02 +00:00
Improve planner kinematics, fix delta ABL
2016-10-06 08:56:05 +00:00
planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
}
// Ensure last segment arrives at target location.
Improve planner kinematics, fix delta ABL
2016-10-06 08:56:05 +00:00
planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
Move plan_arc next to prepare_move
2015-07-19 17:49:02 +00:00
Make arc support (G2/G3) configurable Saves about 2669 bytes when deactivated. (About 1% for a AT2560, about __4%__ for a AT644!)
2016-05-13 11:27:45 +00:00
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
set_current_to_destination();
}
#endif
Move plan_arc next to prepare_move
2015-07-19 17:49:02 +00:00
Add BEZIER_CURVE_SUPPORT (G5 XYZEFIJPQ)
2016-05-12 20:33:47 +00:00
#if ENABLED(BEZIER_CURVE_SUPPORT)
void plan_cubic_move(const float offset[4]) {
Within Marlin, maintain most feed rates in mm/s
2016-08-07 07:20:25 +00:00
cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
Add BEZIER_CURVE_SUPPORT (G5 XYZEFIJPQ)
2016-05-12 20:33:47 +00:00
Use 'logical' rather than 'target' or 'cartesian'
2016-09-15 07:31:36 +00:00
// As far as the parser is concerned, the position is now == destination. In reality the
Add BEZIER_CURVE_SUPPORT (G5 XYZEFIJPQ)
2016-05-12 20:33:47 +00:00
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
set_current_to_destination();
}
#endif // BEZIER_CURVE_SUPPORT
Fixed USE_CONTROLLER_FAN #define usage
2017-05-04 21:38:29 +00:00
#if ENABLED(USE_CONTROLLER_FAN)
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
void controllerFan() {
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
static millis_t lastMotorOn = 0, // Last time a motor was turned on
nextMotorCheck = 0; // Last time the state was checked
const millis_t ms = millis();
Test time difference in safe way
2016-04-10 22:55:12 +00:00
if (ELAPSED(ms, nextMotorCheck)) {
nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
Cleanup to software PWM variables
2017-04-20 19:04:26 +00:00
if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_amount_bed > 0
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
|| E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if E_STEPPERS > 1
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
|| E1_ENABLE_READ == E_ENABLE_ON
#if HAS_X2_ENABLE
|| X2_ENABLE_READ == X_ENABLE_ON
#endif
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if E_STEPPERS > 2
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
|| E2_ENABLE_READ == E_ENABLE_ON
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if E_STEPPERS > 3
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
|| E3_ENABLE_READ == E_ENABLE_ON
Implementation changes to support 5 extruders
2017-04-06 21:46:52 +00:00
#if E_STEPPERS > 4
|| E4_ENABLE_READ == E_ENABLE_ON
#endif // E_STEPPERS > 4
#endif // E_STEPPERS > 3
#endif // E_STEPPERS > 2
#endif // E_STEPPERS > 1
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
) {
Tweak controllerFan to save a cycle or two
2016-03-21 01:48:31 +00:00
lastMotorOn = ms; //... set time to NOW so the fan will turn on
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
}
Tweak controllerFan to save a cycle or two
2016-03-21 01:48:31 +00:00
// Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
Test time difference in safe way
2016-04-10 22:55:12 +00:00
uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
Tweak controllerFan to save a cycle or two
2016-03-21 01:48:31 +00:00
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
// allows digital or PWM fan output to be used (see M42 handling)
Implement USE_CONTROLLER_FAN as a feature
2017-05-03 01:18:31 +00:00
WRITE(CONTROLLER_FAN_PIN, speed);
analogWrite(CONTROLLER_FAN_PIN, speed);
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
}
Split up prepare_move by type - For better encapsulation add inlines for each prepare_move type - Move controllerFan vars inside the function as statics - Some formatting cleanup - Rename `ClearToSend` as `ok_to_send`
2015-05-12 09:08:20 +00:00
Implement USE_CONTROLLER_FAN as a feature
2017-05-03 01:18:31 +00:00
#endif // USE_CONTROLLER_FAN
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
#if ENABLED(MORGAN_SCARA)
Adjust spacing in Marlin_main.cpp and stepper.*
2015-05-17 08:47:02 +00:00
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
/**
* Morgan SCARA Forward Kinematics. Results in cartes[].
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
void forward_kinematics_SCARA(const float &a, const float &b) {
Adjust spacing in Marlin_main.cpp and stepper.*
2015-05-17 08:47:02 +00:00
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
float a_sin = sin(RADIANS(a)) * L1,
a_cos = cos(RADIANS(a)) * L1,
b_sin = sin(RADIANS(b)) * L2,
b_cos = cos(RADIANS(b)) * L2;
Adjust spacing in Marlin_main.cpp and stepper.*
2015-05-17 08:47:02 +00:00
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
Formatting tweaks
2015-05-13 09:02:19 +00:00
Clean up serial out code
2016-09-12 22:49:35 +00:00
/*
Tweak SCARA debugging
2016-09-21 22:54:05 +00:00
SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
SERIAL_ECHOPAIR(" b=", b);
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPAIR(" a_sin=", a_sin);
SERIAL_ECHOPAIR(" a_cos=", a_cos);
SERIAL_ECHOPAIR(" b_sin=", b_sin);
SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
//*/
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
}
restore Branch from Backup sorry for that
2014-06-23 15:09:57 +00:00
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
/**
* Morgan SCARA Inverse Kinematics. Results in delta[].
*
* See http://forums.reprap.org/read.php?185,283327
Patched up, cleaned up
2016-09-26 06:30:34 +00:00
*
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/
Use 'logical' rather than 'target' or 'cartesian'
2016-09-15 07:31:36 +00:00
void inverse_kinematics(const float logical[XYZ]) {
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Patch SCARA example config
2016-09-12 01:11:39 +00:00
static float C2, S2, SK1, SK2, THETA, PSI;
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Use 'logical' rather than 'target' or 'cartesian'
2016-09-15 07:31:36 +00:00
float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
if (L1 == L2)
C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
else
C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
S2 = sqrt(sq(C2) - 1);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
Patch SCARA example config
2016-09-12 01:11:39 +00:00
SK1 = L1 + L2 * C2;
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
// Rotated Arm2 gives the distance from Arm1 to Arm2
Patch SCARA example config
2016-09-12 01:11:39 +00:00
SK2 = L2 * S2;
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
// Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
THETA = atan2(SK1, SK2) - atan2(sx, sy);
// Angle of Arm2
Patch SCARA example config
2016-09-12 01:11:39 +00:00
PSI = atan2(S2, C2);
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Patch SCARA example config
2016-09-12 01:11:39 +00:00
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
Use ABC indices in delta[]
2016-09-15 06:21:31 +00:00
delta[C_AXIS] = logical[Z_AXIS];
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Use 'logical' rather than 'target' or 'cartesian'
2016-09-15 07:31:36 +00:00
/*
DEBUG_POS("SCARA IK", logical);
Patch SCARA example config
2016-09-12 01:11:39 +00:00
DEBUG_POS("SCARA IK", delta);
SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
SERIAL_ECHOPAIR(",", sy);
SERIAL_ECHOPAIR(" C2=", C2);
SERIAL_ECHOPAIR(" S2=", S2);
SERIAL_ECHOPAIR(" Theta=", THETA);
SERIAL_ECHOLNPAIR(" Phi=", PHI);
//*/
}
MORGAN_SCARA kinematics
2016-09-15 05:28:26 +00:00
#endif // MORGAN_SCARA
Patch to fix kinematics
2016-09-12 08:48:29 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(TEMP_STAT_LEDS)
Apply three more commits
2015-04-13 01:07:08 +00:00
static bool red_led = false;
static millis_t next_status_led_update_ms = 0;
void handle_status_leds(void) {
Test time difference in safe way
2016-04-10 22:55:12 +00:00
if (ELAPSED(millis(), next_status_led_update_ms)) {
Apply three more commits
2015-04-13 01:07:08 +00:00
next_status_led_update_ms += 500; // Update every 0.5s
Suppress warning
2016-08-16 16:19:51 +00:00
float max_temp = 0.0;
#if HAS_TEMP_BED
max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
#endif
Temp-related cosmetic changes
2017-05-21 09:49:25 +00:00
HOTEND_LOOP()
extruder_multiplier => flow_percentage
2016-08-19 03:13:47 +00:00
max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
Apply three more commits
2015-04-13 01:07:08 +00:00
bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
if (new_led != red_led) {
red_led = new_led;
Allow TEMP_STAT_LEDS with only one LED defined
2016-10-23 01:07:48 +00:00
#if PIN_EXISTS(STAT_LED_RED)
WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
#if PIN_EXISTS(STAT_LED_BLUE)
WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
#endif
#else
WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
#endif
Apply three more commits
2015-04-13 01:07:08 +00:00
}
Added temperature status less. Hopefully fixed viky button handling without braking other boards
2013-10-20 10:12:35 +00:00
}
}
Apply three more commits
2015-04-13 01:07:08 +00:00
Added temperature status less. Hopefully fixed viky button handling without braking other boards
2013-10-20 10:12:35 +00:00
#endif
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
void handle_filament_runout() {
if (!filament_ran_out) {
filament_ran_out = true;
enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
stepper.synchronize();
}
}
#endif // FILAMENT_RUNOUT_SENSOR
#if ENABLED(FAST_PWM_FAN)
void setPwmFrequency(uint8_t pin, int val) {
val &= 0x07;
switch (digitalPinToTimer(pin)) {
#if defined => #ifdef / PIN_EXISTS
2017-03-20 20:47:51 +00:00
#ifdef TCCR0A
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
case TIMER0A:
case TIMER0B:
Update fastio.h with special handling for Timer 2
2017-04-24 19:04:46 +00:00
//_SET_CS(0, val);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
break;
#endif
#if defined => #ifdef / PIN_EXISTS
2017-03-20 20:47:51 +00:00
#ifdef TCCR1A
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
case TIMER1A:
case TIMER1B:
Update fastio.h with special handling for Timer 2
2017-04-24 19:04:46 +00:00
//_SET_CS(1, val);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
break;
#endif
#if defined => #ifdef / PIN_EXISTS
2017-03-20 20:47:51 +00:00
#ifdef TCCR2
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
case TIMER2:
case TIMER2:
Update fastio.h with special handling for Timer 2
2017-04-24 19:04:46 +00:00
_SET_CS(2, val);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
break;
#endif
#if defined => #ifdef / PIN_EXISTS
2017-03-20 20:47:51 +00:00
#ifdef TCCR2A
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
case TIMER2A:
case TIMER2B:
Update fastio.h with special handling for Timer 2
2017-04-24 19:04:46 +00:00
_SET_CS(2, val);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
break;
#endif
#if defined => #ifdef / PIN_EXISTS
2017-03-20 20:47:51 +00:00
#ifdef TCCR3A
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
case TIMER3A:
case TIMER3B:
case TIMER3C:
Update fastio.h with special handling for Timer 2
2017-04-24 19:04:46 +00:00
_SET_CS(3, val);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
break;
#endif
#if defined => #ifdef / PIN_EXISTS
2017-03-20 20:47:51 +00:00
#ifdef TCCR4A
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
case TIMER4A:
case TIMER4B:
case TIMER4C:
Update fastio.h with special handling for Timer 2
2017-04-24 19:04:46 +00:00
_SET_CS(4, val);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
break;
#endif
#if defined => #ifdef / PIN_EXISTS
2017-03-20 20:47:51 +00:00
#ifdef TCCR5A
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
case TIMER5A:
case TIMER5B:
case TIMER5C:
Update fastio.h with special handling for Timer 2
2017-04-24 19:04:46 +00:00
_SET_CS(5, val);
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
break;
#endif
}
}
#endif // FAST_PWM_FAN
float calculate_volumetric_multiplier(float diameter) {
if (!volumetric_enabled || diameter == 0) return 1.0;
Apply some general cleanup to code
2017-03-24 05:53:28 +00:00
return 1.0 / (M_PI * sq(diameter * 0.5));
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
}
void calculate_volumetric_multipliers() {
for (uint8_t i = 0; i < COUNT(filament_size); i++)
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}
disable / enable_all_steppers functions
2015-04-04 02:25:22 +00:00
void enable_all_steppers() {
Simplify stepper macros by renaming enable/disable macros
2017-04-11 16:10:26 +00:00
enable_X();
enable_Y();
enable_Z();
enable_E0();
enable_E1();
enable_E2();
enable_E3();
enable_E4();
disable / enable_all_steppers functions
2015-04-04 02:25:22 +00:00
}
Add disable_e_steppers function
2017-03-18 02:12:19 +00:00
void disable_e_steppers() {
Simplify stepper macros by renaming enable/disable macros
2017-04-11 16:10:26 +00:00
disable_E0();
disable_E1();
disable_E2();
disable_E3();
disable_E4();
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
}
Add disable_e_steppers function
2017-03-18 02:12:19 +00:00
void disable_all_steppers() {
Simplify stepper macros by renaming enable/disable macros
2017-04-11 16:10:26 +00:00
disable_X();
disable_Y();
disable_Z();
Add disable_e_steppers function
2017-03-18 02:12:19 +00:00
disable_e_steppers();
}
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
#if ENABLED(HAVE_TMC2130)
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
void automatic_current_control(TMC2130Stepper &st, String axisID) {
// Check otpw even if we don't use automatic control. Allows for flag inspection.
const bool is_otpw = st.checkOT();
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
// Report if a warning was triggered
static bool previous_otpw = false;
if (is_otpw && !previous_otpw) {
char timestamp[10];
duration_t elapsed = print_job_timer.duration();
const bool has_days = (elapsed.value > 60*60*24L);
(void)elapsed.toDigital(timestamp, has_days);
SERIAL_ECHO(timestamp);
SERIAL_ECHO(": ");
SERIAL_ECHO(axisID);
SERIAL_ECHOLNPGM(" driver overtemperature warning!");
}
previous_otpw = is_otpw;
#if CURRENT_STEP > 0 && ENABLED(AUTOMATIC_CURRENT_CONTROL)
// Return if user has not enabled current control start with M906 S1.
if (!auto_current_control) return;
/**
* Decrease current if is_otpw is true.
* Bail out if driver is disabled.
* Increase current if OTPW has not been triggered yet.
*/
uint16_t current = st.getCurrent();
if (is_otpw) {
st.setCurrent(current - CURRENT_STEP, R_SENSE, HOLD_MULTIPLIER);
#if ENABLED(REPORT_CURRENT_CHANGE)
SERIAL_ECHO(axisID);
SERIAL_ECHOPAIR(" current decreased to ", st.getCurrent());
#endif
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
}
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
else if (!st.isEnabled())
return;
else if (!is_otpw && !st.getOTPW()) {
current += CURRENT_STEP;
if (current <= AUTO_ADJUST_MAX) {
st.setCurrent(current, R_SENSE, HOLD_MULTIPLIER);
#if ENABLED(REPORT_CURRENT_CHANGE)
SERIAL_ECHO(axisID);
SERIAL_ECHOPAIR(" current increased to ", st.getCurrent());
#endif
}
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
}
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
SERIAL_EOL;
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
}
void checkOverTemp() {
static millis_t next_cOT = 0;
if (ELAPSED(millis(), next_cOT)) {
next_cOT = millis() + 5000;
#if ENABLED(X_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
automatic_current_control(stepperX, "X");
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(Y_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
automatic_current_control(stepperY, "Y");
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(Z_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
automatic_current_control(stepperZ, "Z");
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(X2_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
automatic_current_control(stepperX2, "X2");
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(Y2_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
automatic_current_control(stepperY2, "Y2");
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(Z2_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
automatic_current_control(stepperZ2, "Z2");
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(E0_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
automatic_current_control(stepperE0, "E0");
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(E1_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
automatic_current_control(stepperE1, "E1");
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(E2_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
automatic_current_control(stepperE2, "E2");
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
#if ENABLED(E3_IS_TMC2130)
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
automatic_current_control(stepperE3, "E3");
#endif
#if ENABLED(E4_IS_TMC2130)
automatic_current_control(stepperE4, "E4");
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
#endif
Implement delta auto-calibration and delta_height
2017-03-31 19:58:40 +00:00
#if ENABLED(E4_IS_TMC2130)
automatic_current_control(stepperE4);
#endif
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
}
}
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
#endif // HAVE_TMC2130
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
/**
Fix manage_inactivity - Document `manage_inactivity` function - Allow `EXTRUDER_RUNOUT_PREVENT` to work with all extruders - Use faster `memcpy` for copying coordinates
2015-04-04 06:42:50 +00:00
* Manage several activities:
* - Check for Filament Runout
* - Keep the command buffer full
* - Check for maximum inactive time between commands
* - Check for maximum inactive time between stepper commands
* - Check if pin CHDK needs to go LOW
* - Check for KILL button held down
* - Check for HOME button held down
* - Check if cooling fan needs to be switched on
* - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
*/
void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Improve FILAMENT_RUNOUT_SENSOR, FILRUNOUT_PIN
2016-06-20 01:05:57 +00:00
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
Replace const bool with #define for consistency
2016-11-09 16:21:21 +00:00
if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING))
Rename filament runout items
2016-04-18 06:16:49 +00:00
handle_filament_runout();
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#endif
Split get_command into units, rename to get_available_commands
2016-03-28 12:25:27 +00:00
if (commands_in_queue < BUFSIZE) get_available_commands();
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
const millis_t ms = millis();
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
Message for every KILL and STOP No more mystery halts & resets Moved messages to language.h Added current command to inactive timeout message
2017-03-14 17:24:46 +00:00
if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) {
SERIAL_ERROR_START;
SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, current_command);
kill(PSTR(MSG_KILLED));
}
Spacing, coding standards
2017-02-10 06:13:58 +00:00
// Prevent steppers timing-out in the middle of M600
#if ENABLED(FILAMENT_CHANGE_FEATURE) && ENABLED(FILAMENT_CHANGE_NO_STEPPER_TIMEOUT)
#define M600_TEST !busy_doing_M600
#else
#define M600_TEST true
Improve M600 with timeout, wait for heatup.
2017-01-21 23:10:57 +00:00
#endif
Bug Fix: Switching extruder tool change leaves Z in wrong position The tool_change function saves the current_position to the destination array soon after starting. Later in the switching extruder section, the destination array is modified when moving the Z axis up & down. A later section of tool_change moves the head back to the “original location” using the destination array. This later section assumes that the destination array hasn’t been modified. The fix is to save the destination Z position and then restore it after the Z movements have completed. Going back to using the current_position array for the switching extruder Z axis moves (and leaving the destination array untouched) doesn’t fix the problem. This bug was introduced by the “Make tool_change kinematic compatible” commit # 847429eff4b3d9e8343ddccc88ab61f06c059449 which was merged on 10 Oct 2016 as part of PR 4982. This bug was discovered in Issue 5966.
2017-03-14 07:25:34 +00:00
Spacing, coding standards
2017-02-10 06:13:58 +00:00
if (M600_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
Planner singleton class
2016-04-28 01:06:32 +00:00
&& !ignore_stepper_queue && !planner.blocks_queued()) {
Use ENABLED with DISABLE_[INACTIVE_][XYZ]
2016-03-14 05:15:45 +00:00
#if ENABLED(DISABLE_INACTIVE_X)
Simplify stepper macros by renaming enable/disable macros
2017-04-11 16:10:26 +00:00
disable_X();
Respect DISABLE_AXIS settings (PR#2216) when DEFAULT_STEPPER_DEACTIVE_TIME is over instead of simply turn off all.
2015-06-01 08:42:28 +00:00
#endif
Use ENABLED with DISABLE_[INACTIVE_][XYZ]
2016-03-14 05:15:45 +00:00
#if ENABLED(DISABLE_INACTIVE_Y)
Simplify stepper macros by renaming enable/disable macros
2017-04-11 16:10:26 +00:00
disable_Y();
Respect DISABLE_AXIS settings (PR#2216) when DEFAULT_STEPPER_DEACTIVE_TIME is over instead of simply turn off all.
2015-06-01 08:42:28 +00:00
#endif
Use ENABLED with DISABLE_[INACTIVE_][XYZ]
2016-03-14 05:15:45 +00:00
#if ENABLED(DISABLE_INACTIVE_Z)
Simplify stepper macros by renaming enable/disable macros
2017-04-11 16:10:26 +00:00
disable_Z();
Respect DISABLE_AXIS settings (PR#2216) when DEFAULT_STEPPER_DEACTIVE_TIME is over instead of simply turn off all.
2015-06-01 08:42:28 +00:00
#endif
Use ENABLED with DISABLE_[INACTIVE_][XYZ]
2016-03-14 05:15:45 +00:00
#if ENABLED(DISABLE_INACTIVE_E)
Add disable_e_steppers function
2017-03-18 02:12:19 +00:00
disable_e_steppers();
Respect DISABLE_AXIS settings (PR#2216) when DEFAULT_STEPPER_DEACTIVE_TIME is over instead of simply turn off all.
2015-06-01 08:42:28 +00:00
#endif
}
Filament Runout Sensor Feature With this change a mechanical or optical switch may be used to check the availability of the filament and when the filament runs out an M600 (filament change) command is issued. This is only done while printing with an SD card. This feature was requested several times (issue #679), but the requests were not accepted since it was believed that this situation should be handled at host side. However during an SD print the control is totally on firmware and I think that during an SD print it should be handled by the firmware. The original code was posted at reprap forum (http://forums.reprap.org/read.php?1,297350) by Lazymonk. I have only corrected some bugs of the code and improved it by adding definitions to the configuration.h in order to make it more standardized.
2015-03-07 20:43:15 +00:00
Fix manage_inactivity - Document `manage_inactivity` function - Allow `EXTRUDER_RUNOUT_PREVENT` to work with all extruders - Use faster `memcpy` for copying coordinates
2015-04-04 06:42:50 +00:00
#ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
Fix stuck CHDK pin as suggested in #6041
2017-03-17 02:49:39 +00:00
if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) {
Added CHDK support Added CHDK support to take pictures instead of doing an IR command, see more about how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
2014-03-10 20:57:08 +00:00
chdkActive = false;
WRITE(CHDK, LOW);
}
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_KILL
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Merge branch 'SAV-MkI_merge' into Development Tested for SAV MKI and SAV 3D LCD on lewihe.
2014-12-28 18:54:06 +00:00
// Check if the kill button was pressed and wait just in case it was an accidental
// key kill key press
// -------------------------------------------------------------------------------
Group all universal variables
2015-04-03 22:45:41 +00:00
static int killCount = 0; // make the inactivity button a bit less responsive
const int KILL_DELAY = 750;
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
if (!READ(KILL_PIN))
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
killCount++;
Merge branch 'SAV-MkI_merge' into Development Tested for SAV MKI and SAV 3D LCD on lewihe.
2014-12-28 18:54:06 +00:00
else if (killCount > 0)
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
killCount--;
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
Merge branch 'SAV-MkI_merge' into Development Tested for SAV MKI and SAV 3D LCD on lewihe.
2014-12-28 18:54:06 +00:00
// Exceeded threshold and we can confirm that it was not accidental
// KILL the machine
// ----------------------------------------------------------------
Message for every KILL and STOP No more mystery halts & resets Moved messages to language.h Added current command to inactive timeout message
2017-03-14 17:24:46 +00:00
if (killCount >= KILL_DELAY) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
kill(PSTR(MSG_KILLED));
}
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
#endif
Merge branch 'SAV-MkI_merge' into Development Tested for SAV MKI and SAV 3D LCD on lewihe.
2014-12-28 18:54:06 +00:00
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#if HAS_HOME
Merge branch 'SAV-MkI_merge' into Development Tested for SAV MKI and SAV 3D LCD on lewihe.
2014-12-28 18:54:06 +00:00
// Check to see if we have to home, use poor man's debouncer
// ---------------------------------------------------------
Group all universal variables
2015-04-03 22:45:41 +00:00
static int homeDebounceCount = 0; // poor man's debouncing count
LCD home button causes repeated homing (PR#175) Fix: increased debounce delay.
2015-09-13 18:20:43 +00:00
const int HOME_DEBOUNCE_DELAY = 2500;
Ignore homing button when SD printing As suggested in #5404 by @android444
2016-12-06 20:22:34 +00:00
if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
if (!homeDebounceCount) {
Use a separate serial line buffer
2016-02-21 01:35:35 +00:00
enqueue_and_echo_commands_P(PSTR("G28"));
Bug corrected: Persistent homing message. Message was declared as an alert, therefore it was persistent. Updated to message.
2015-05-04 17:48:49 +00:00
LCD_MESSAGEPGM(MSG_AUTO_HOME);
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
}
if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
homeDebounceCount++;
else
homeDebounceCount = 0;
Merge branch 'SAV-MkI_merge' into Development Tested for SAV MKI and SAV 3D LCD on lewihe.
2014-12-28 18:54:06 +00:00
}
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
#endif
Create DEBUG_LEVELING_FEATURE
2015-08-05 11:40:36 +00:00
Fixed USE_CONTROLLER_FAN #define usage
2017-05-04 21:38:29 +00:00
#if ENABLED(USE_CONTROLLER_FAN)
Fix manage_inactivity - Document `manage_inactivity` function - Allow `EXTRUDER_RUNOUT_PREVENT` to work with all extruders - Use faster `memcpy` for copying coordinates
2015-04-04 06:42:50 +00:00
controllerFan(); // Check if fan should be turned on to cool stepper drivers down
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
&& thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
Apply fixed EXTRUDER_RUNOUT_PREVENT
2016-09-13 08:26:23 +00:00
bool oldstatus;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(SWITCHING_EXTRUDER)
Apply fixed EXTRUDER_RUNOUT_PREVENT
2016-09-13 08:26:23 +00:00
oldstatus = E0_ENABLE_READ;
Simplify stepper macros by renaming enable/disable macros
2017-04-11 16:10:26 +00:00
enable_E0();
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#else // !SWITCHING_EXTRUDER
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
switch (active_extruder) {
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
case 0: oldstatus = E0_ENABLE_READ; enable_E0(); break;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if E_STEPPERS > 1
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
case 1: oldstatus = E1_ENABLE_READ; enable_E1(); break;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if E_STEPPERS > 2
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
case 2: oldstatus = E2_ENABLE_READ; enable_E2(); break;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if E_STEPPERS > 3
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
case 3: oldstatus = E3_ENABLE_READ; enable_E3(); break;
Implementation changes to support 5 extruders
2017-04-06 21:46:52 +00:00
#if E_STEPPERS > 4
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
case 4: oldstatus = E4_ENABLE_READ; enable_E4(); break;
Implementation changes to support 5 extruders
2017-04-06 21:46:52 +00:00
#endif // E_STEPPERS > 4
#endif // E_STEPPERS > 3
#endif // E_STEPPERS > 2
#endif // E_STEPPERS > 1
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
}
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#endif // !SWITCHING_EXTRUDER
Apply three more commits
2015-04-13 01:07:08 +00:00
previous_cmd_ms = ms; // refresh_cmd_timeout()
Make EXTRUDER_RUNOUT_PREVENT kinematic compatible
2016-10-09 20:21:36 +00:00
EXTRUDER_RUNOUT_PREVENT uses buffer_line_kinematic
2017-03-20 21:41:59 +00:00
const float olde = current_position[E_AXIS];
current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
current_position[E_AXIS] = olde;
planner.set_e_position_mm(olde);
Stepper and Endstops as singleton objects
2016-04-27 14:15:20 +00:00
stepper.synchronize();
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if ENABLED(SWITCHING_EXTRUDER)
E0_ENABLE_WRITE(oldstatus);
#else
switch (active_extruder) {
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
case 0: E0_ENABLE_WRITE(oldstatus); break;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if E_STEPPERS > 1
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
case 1: E1_ENABLE_WRITE(oldstatus); break;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if E_STEPPERS > 2
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
case 2: E2_ENABLE_WRITE(oldstatus); break;
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#if E_STEPPERS > 3
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
case 3: E3_ENABLE_WRITE(oldstatus); break;
Implementation changes to support 5 extruders
2017-04-06 21:46:52 +00:00
#if E_STEPPERS > 4
Apply const, spacing to Marlin_main.cpp
2017-04-18 19:39:45 +00:00
case 4: E4_ENABLE_WRITE(oldstatus); break;
Implementation changes to support 5 extruders
2017-04-06 21:46:52 +00:00
#endif // E_STEPPERS > 4
#endif // E_STEPPERS > 3
#endif // E_STEPPERS > 2
#endif // E_STEPPERS > 1
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
}
#endif // !SWITCHING_EXTRUDER
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER
2016-06-28 22:06:56 +00:00
#endif // EXTRUDER_RUNOUT_PREVENT
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(DUAL_X_CARRIAGE)
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
// handle delayed move timeout
Test time difference in safe way
2016-04-10 22:55:12 +00:00
if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
Fix manage_inactivity - Document `manage_inactivity` function - Allow `EXTRUDER_RUNOUT_PREVENT` to work with all extruders - Use faster `memcpy` for copying coordinates
2015-04-04 06:42:50 +00:00
set_destination_to_current();
Clarify names of prepare_move functions
2016-06-11 02:23:41 +00:00
prepare_move_to_destination();
Add duplication and auto-park mode for dual x-carriage support.
2013-08-07 14:10:26 +00:00
}
Added temperature status less. Hopefully fixed viky button handling without braking other boards
2013-10-20 10:12:35 +00:00
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(TEMP_STAT_LEDS)
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
handle_status_leds();
Added temperature status less. Hopefully fixed viky button handling without braking other boards
2013-10-20 10:12:35 +00:00
#endif
Additional pin tests, cleanup
2015-04-03 22:31:35 +00:00
Cleanup, extend TMC2130 implementation
2017-04-15 03:44:08 +00:00
#if ENABLED(HAVE_TMC2130)
TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 05:00:43 +00:00
checkOverTemp();
#endif
Planner singleton class
2016-04-28 01:06:32 +00:00
planner.check_axes_activity();
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Standard idle routine keeps the machine alive
*/
void idle(
#if ENABLED(FILAMENT_CHANGE_FEATURE)
bool no_stepper_sleep/*=false*/
#endif
) {
lcd_update();
Add M155 - Auto-report temperature with interval
2016-11-09 00:03:40 +00:00
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
host_keepalive();
Add M155 - Auto-report temperature with interval
2016-11-09 00:03:40 +00:00
#if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
auto_report_temperatures();
#endif
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
manage_inactivity(
#if ENABLED(FILAMENT_CHANGE_FEATURE)
no_stepper_sleep
#endif
);
thermalManager.manage_heater();
#if ENABLED(PRINTCOUNTER)
print_job_timer.tick();
#endif
Fix buzzer conditional compile
2016-10-05 02:31:50 +00:00
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
buzzer.tick();
#endif
}
/**
* Kill all activity and lock the machine.
* After this the machine will need to be reset.
*/
Styling adjustments (PR#2668 & PR#2670) Keep "astyled" reformatting
2015-10-03 06:08:58 +00:00
void kill(const char* lcd_msg) {
Add a kill-screen
2016-07-10 02:50:45 +00:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
Update Marlin_main.cpp Sometimes after killing heaters are still on.
2017-03-21 14:06:01 +00:00
thermalManager.disable_all_heaters();
disable_all_steppers();
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
Apply ENABLED / DISABLED to Marlin core files (PR#2558)
2015-07-31 05:24:43 +00:00
#if ENABLED(ULTRA_LCD)
Add a kill-screen
2016-07-10 02:50:45 +00:00
kill_screen(lcd_msg);
Compiler issues (PR#2696)
2015-10-04 15:33:55 +00:00
#else
UNUSED(lcd_msg);
Make output on display dependant of ULTRA_LCD
2015-05-20 20:03:16 +00:00
#endif
Add a string parameter to kill() Makes the output on the LCD adjustable.
2015-05-20 18:53:48 +00:00
add delays to allow stop & kill messages to get out
2017-04-01 05:23:14 +00:00
_delay_ms(600); // Wait a short time (allows messages to get out before shutting down.
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
cli(); // Stop interrupts
Various UBL cleanups and bug fixes
2017-03-29 00:45:54 +00:00
Update Marlin_main.cpp Sometimes after killing heaters are still on.
2017-03-21 14:06:01 +00:00
_delay_ms(250); //Wait to ensure all interrupts routines stopped
thermalManager.disable_all_heaters(); //turn off heaters again
Apply all changes from latest Marlin_V1 Diffed and merged, preserving my updates
2013-06-06 22:49:25 +00:00
Conditionals and comments for PS = 0
2015-03-30 23:50:05 +00:00
#if HAS_POWER_SWITCH
Use SET_INPUT for PS_ON_PIN in kill
2016-12-03 04:40:18 +00:00
SET_INPUT(PS_ON_PIN);
Conditionals and comments for PS = 0
2015-03-30 23:50:05 +00:00
#endif
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
suicide();
Add Watchdog reset in kill() Add watchdog reset in the kill loop to simplify recovering.
2016-03-03 23:35:18 +00:00
while (1) {
M110 ang M29 rework Add 'ok' output for G29 actually closing the file. Handle M110 when received without linenumber/checksumm.
2016-03-07 21:27:01 +00:00
#if ENABLED(USE_WATCHDOG)
watchdog_reset();
#endif
Add Watchdog reset in kill() Add watchdog reset in the kill loop to simplify recovering.
2016-03-03 23:35:18 +00:00
} // Wait for reset
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
Reformat, rearrange, tweak, and document - Add comments to several functions - Add an option to use Fast SQRT for Delta IK - Group related functions together - Outdent some leveling-related functions
2016-09-13 07:11:45 +00:00
/**
* Turn off heaters and stop the print in progress
* After a stop the machine may be resumed with M999
*/
lowercase "stop" function
2016-04-18 07:05:22 +00:00
void stop() {
Improve BLTOUCH_HEATERS_OFF functionality - rename to PROBING_HEATERS_OFF - move heater pausing functionality into thermalManager - add variables, pause(), ispaused(), other functions - add fan pausing functionality -> PROBING_FANS_OFF - add probing_pause() wrapper - move pausing into do_homing_move() and do_probe_move() to minimize quiet time and so other probe types can benefit - example configs
2017-05-07 11:06:06 +00:00
thermalManager.disable_all_heaters(); // 'unpause' taken care of in here
#if ENABLED(PROBING_FANS_OFF)
if (fans_paused) fans_pause(false); // put things back the way they were
#endif
Adjust spacing in Marlin_main.cpp and stepper.*
2015-05-17 08:47:02 +00:00
if (IsRunning()) {
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
add delays to allow stop & kill messages to get out
2017-04-01 05:23:14 +00:00
safe_delay(350); // allow enough time for messages to get out before stopping
Running = false;
First cleanup. Moved all code to cpp files, so there are no dependencies on pde files. And no more odd requirement to cat files together. (Still need to fix the Makefile). Also cleaned up some defines and made defines upper case as by C coding conventions.
2012-11-06 11:06:41 +00:00
}
}
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
/**
* Marlin entry-point: Set up before the program loop
* - Set up the kill pin, filament runout, power hold
* - Start the serial port
* - Print startup messages and diagnostics
* - Get EEPROM or default settings
* - Initialize managers for:
* • temperature
* • planner
* • watchdog
* • stepper
* • photo pin
* • servos
* • LCD controller
* • Digipot I2C
* • Z probe sled
* • status LEDs
*/
void setup() {
Sanity check homing bumps
2016-09-22 22:10:20 +00:00
#ifdef DISABLE_JTAG
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
// Disable JTAG on AT90USB chips to free up pins for IO
MCUCR = 0x80;
MCUCR = 0x80;
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
setup_filrunoutpin();
#endif
setup_killpin();
setup_powerhold();
#if HAS_STEPPER_RESET
disableStepperDrivers();
#endif
MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START;
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR;
if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
MCUSR = 0;
SERIAL_ECHOPGM(MSG_MARLIN);
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_CHAR(' ');
SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
SERIAL_EOL;
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
Clean up serial out code
2016-09-12 22:49:35 +00:00
#if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
SERIAL_ECHOLNPGM("Compiled: " __DATE__);
#endif
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
SERIAL_ECHO_START;
Clean up serial out code
2016-09-12 22:49:35 +00:00
SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
// Send "ok" after commands by default
for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
// Load data from EEPROM if available (or use defaults)
// This also updates variables in the planner, elsewhere
Convert config code to a static class
2017-04-10 02:47:49 +00:00
(void)settings.load();
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
Allow NO_WORKSPACE_OFFSETS with DELTA_AUTO_CALIBRATION - On `DELTA` the `M665 H` option supplants `M206` - On `DELTA` `NO_WORKSPACE_OFFSETS` only reverts `G92` behavior - Spawn 4 conditionals based on `NO_WORKSPACE_OFFSETS` - Optimize coordinate space conversion for `DELTA` workspace - To keep EEPROM version, retain `home_offset[XYZ]`, just ignore XY
2017-04-15 02:41:21 +00:00
#if HAS_M206_COMMAND
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
// Initialize current position based on home_offset
Use a macro for array copies
2017-03-05 01:19:06 +00:00
COPY(current_position, home_offset);
Implement NO_WORKSPACE_OFFSETS
2017-03-05 00:01:33 +00:00
#else
ZERO(current_position);
#endif
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
// Vital to init stepper/planner equivalent for current_position
SYNC_PLAN_POSITION_KINEMATIC();
thermalManager.init(); // Initialize temperature loop
#if ENABLED(USE_WATCHDOG)
watchdog_init();
#endif
stepper.init(); // Initialize stepper, this enables interrupts!
servo_init();
Patch photo pin code style
2016-11-01 11:24:21 +00:00
#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
#endif
Case light G-code M355 implemented G-Code M355 into Marlin
2016-10-05 19:34:07 +00:00
#if HAS_CASE_LIGHT
Fix and optimize case-light code
2016-11-28 05:51:51 +00:00
update_case_light();
Case light G-code M355 implemented G-Code M355 into Marlin
2016-10-05 19:34:07 +00:00
#endif
SPINDLE/LASER implementation
2017-04-07 18:52:45 +00:00
#if ENABLED(SPINDLE_LASER_ENABLE)
OUT_WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // init spindle to off
#if SPINDLE_DIR_CHANGE
OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // init rotation to clockwise (M3)
#endif
#if ENABLED(SPINDLE_LASER_PWM)
SET_OUTPUT(SPINDLE_LASER_PWM_PIN);
analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // set to lowest speed
#endif
#endif
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
#if HAS_BED_PROBE
endstops.enable_z_probe(false);
#endif
Fixed USE_CONTROLLER_FAN #define usage
2017-05-04 21:38:29 +00:00
#if ENABLED(USE_CONTROLLER_FAN)
Implement USE_CONTROLLER_FAN as a feature
2017-05-03 01:18:31 +00:00
SET_OUTPUT(CONTROLLER_FAN_PIN); //Set pin used for driver cooling fan
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
#endif
#if HAS_STEPPER_RESET
enableStepperDrivers();
#endif
#if ENABLED(DIGIPOT_I2C)
digipot_i2c_init();
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
dac_init();
#endif
Add support for SOLENOID_PROBE
2017-04-14 21:36:02 +00:00
#if (ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE)) && HAS_SOLENOID_1
OUT_WRITE(SOL1_PIN, LOW); // turn it off
#endif
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
setup_homepin();
Rename status led pins
2016-09-24 20:33:29 +00:00
#if PIN_EXISTS(STAT_LED_RED)
OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
#endif
Rename status led pins
2016-09-24 20:33:29 +00:00
#if PIN_EXISTS(STAT_LED_BLUE)
OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
#endif
Patch to init W with RGBW_LED
2017-04-14 21:54:53 +00:00
#if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
Fix single-char echo and pinMode usage
2017-03-18 15:17:00 +00:00
SET_OUTPUT(RGB_LED_R_PIN);
SET_OUTPUT(RGB_LED_G_PIN);
SET_OUTPUT(RGB_LED_B_PIN);
Patch to init W with RGBW_LED
2017-04-14 21:54:53 +00:00
#if ENABLED(RGBW_LED)
SET_OUTPUT(RGB_LED_W_PIN);
#endif
Support for an RGB LED using 3 pins
2016-11-30 01:51:13 +00:00
#endif
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
lcd_init();
#if ENABLED(SHOW_BOOTSCREEN)
#if ENABLED(DOGLCD)
safe_delay(BOOTSCREEN_TIMEOUT);
#elif ENABLED(ULTRA_LCD)
bootscreen();
Fix freezing and MINTEMP Error with MAX31855 thermocouple
2016-10-13 07:03:20 +00:00
#if DISABLED(SDSUPPORT)
lcd_init();
#endif
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
#endif
#endif
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
// Initialize mixing to 100% color 1
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
Store Mix factors as reciprocals and multiply
2016-11-12 20:33:07 +00:00
mixing_factor[i] = (i == 0) ? 1.0 : 0.0;
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_virtual_tool_mix[t][i] = mixing_factor[i];
#endif
guaranteed BLTouch detection To guarantee that the 5mS pulse from a BLTouch is recognized you need to have the endstops.update() routine run twice in that 5mS period. At 200 steps per mm, my system has problems below a feedrate of 120 mm per minute. Two things were done to guarantee the two updates within 5mS: 1) In interrupt mode, a check was added to the temperature ISR. If the endstop interrupt flag/counter is active then it'll kick off the endstop update routine every 1mS until the flag/counter is zero. This flag/counter is decremented by the temperature ISR AND by the stepper ISR. 2) In poling mode, code was added to the stepper ISR that will make sure the ISR runs about every 1.5mS. The "extra" ISR runs only check the endstops. This was done by grabbing the intended ISR delay and, if it's over 2.0mS, splitting the intended delay into multiple smaller delays. The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and the last no less than 0.5mS. ========================================= BLTouch error state recovery If BLTouch already active when deploying the probe then try to reset it & clear the probe. If that doesn't fix it then declare an error. Also added BLTouch init routine to startup section
2017-01-22 00:10:02 +00:00
#if ENABLED(BLTOUCH)
Patch for BLTOUCH_HEATERS_OFF
2017-05-01 16:09:39 +00:00
// Make sure any BLTouch error condition is cleared
bltouch_command(BLTOUCH_RESET);
set_bltouch_deployed(true);
set_bltouch_deployed(false);
guaranteed BLTouch detection To guarantee that the 5mS pulse from a BLTouch is recognized you need to have the endstops.update() routine run twice in that 5mS period. At 200 steps per mm, my system has problems below a feedrate of 120 mm per minute. Two things were done to guarantee the two updates within 5mS: 1) In interrupt mode, a check was added to the temperature ISR. If the endstop interrupt flag/counter is active then it'll kick off the endstop update routine every 1mS until the flag/counter is zero. This flag/counter is decremented by the temperature ISR AND by the stepper ISR. 2) In poling mode, code was added to the stepper ISR that will make sure the ISR runs about every 1.5mS. The "extra" ISR runs only check the endstops. This was done by grabbing the intended ISR delay and, if it's over 2.0mS, splitting the intended delay into multiple smaller delays. The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and the last no less than 0.5mS. ========================================= BLTouch error state recovery If BLTouch already active when deploying the probe then try to reset it & clear the probe. If that doesn't fix it then declare an error. Also added BLTouch init routine to startup section
2017-01-22 00:10:02 +00:00
#endif
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
i2c.onReceive(i2c_on_receive);
i2c.onRequest(i2c_on_request);
#endif
Introduce endstop interrupts If ENDSTOP_INTERRUPTS_FEATURE is enabled this tries to set up interrupt routines for all used endstop pins. If this worked without errors, `endstops.update()` is called only if one of the endstops changed its state. The new interrupt routines do not really check the endstops and react upon them. All what they do, is to set a flag if it makes sense to call the endstop test we are used to. This can be used on: * ARM (DUE) based boards - all pins can raise interrupts, * RAMPS - all 6 endstop pins plus some other on EXT-2 can raise interrupts, * RAMPS based boards - as long the designers did not change the pins for the endstops or at least left enough, * all boards, if there are enough pins that can raise interrupts, and you are willing/able to swap with pins dedicated to other purpose.
2016-11-05 21:38:48 +00:00
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
Followup to new endstop interrupts feature - Fix typos, verbiage - Fix naming of `setup_endstop_interrupts` - Some formatting, indentation, spacing
2016-11-19 03:53:45 +00:00
setup_endstop_interrupts();
Introduce endstop interrupts If ENDSTOP_INTERRUPTS_FEATURE is enabled this tries to set up interrupt routines for all used endstop pins. If this worked without errors, `endstops.update()` is called only if one of the endstops changed its state. The new interrupt routines do not really check the endstops and react upon them. All what they do, is to set a flag if it makes sense to call the endstop test we are used to. This can be used on: * ARM (DUE) based boards - all pins can raise interrupts, * RAMPS - all 6 endstop pins plus some other on EXT-2 can raise interrupts, * RAMPS based boards - as long the designers did not change the pins for the endstops or at least left enough, * all boards, if there are enough pins that can raise interrupts, and you are willing/able to swap with pins dedicated to other purpose.
2016-11-05 21:38:48 +00:00
#endif
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
}
/**
* The main Marlin program loop
*
* - Save or log commands to SD
* - Process available commands (if not saving)
* - Call heater manager
* - Call inactivity manager
* - Call endstop manager
* - Call LCD update
*/
void loop() {
if (commands_in_queue < BUFSIZE) get_available_commands();
#if ENABLED(SDSUPPORT)
card.checkautostart(false);
#endif
if (commands_in_queue) {
#if ENABLED(SDSUPPORT)
if (card.saving) {
char* command = command_queue[cmd_queue_index_r];
if (strstr_P(command, PSTR("M29"))) {
// M29 closes the file
card.closefile();
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
ok_to_send();
}
else {
// Write the string from the read buffer to SD
card.write_command(command);
if (card.logging)
process_next_command(); // The card is saving because it's logging
else
ok_to_send();
}
}
else
process_next_command();
#else
process_next_command();
#endif // SDSUPPORT
// The queue may be reset by a command handler or by code invoked by idle() within a handler
if (commands_in_queue) {
--commands_in_queue;
Tweak command index increment
2017-05-05 07:57:22 +00:00
if (++cmd_queue_index_r >= BUFSIZE) cmd_queue_index_r = 0;
Move setup() and loop() to the end
2016-09-12 01:21:54 +00:00
}
}
endstops.report_state();
idle();
}
UBL_DELTA (#6695) UBL on Delta's.... Should be close! Should not affect any Cartesian printer.
2017-05-12 03:33:47 +00:00
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